Path Planning


We have developed a parallel path planning algorithm which combines a parallel skeletonization operation with the Marching Pixel (MP) conecpt, a new innovative Organic Computing approach. MPs are like virtual ants which are travelling in an image in order to solve specific tasks. In the following you can find a simulation example generated with the multi-agent software SWARM.

The different colors in the animation reflect the following states

States of the State Machine

Flash-Animation of the Algorithm:




  • M. Schmidt, D. Fey. An optimized FPGA Implementation for a Parallel Path Planning Algorithm based on Marching Pixels, ReConFig, pages 442-447, Cancun, Mexico, December 2010.
  • M. Schmidt, D. Fey. A Parallel Path Planning Approach Based on Organic Computing Principles. Proceedings of the 20th IASTED International Conference on Parallel and Distributed Computing and Systems, pages 176-181, Orlando, USA, November 2008.