A Morphological Adaptation Approach to Path Planning Inspired by Slime Mould

TL;DR

This paper demonstrates how a particle model of slime mould can perform path planning through morphological adaptation, including obstacle avoidance and path selection, offering a novel approach inspired by biological processes.

Contribution

It introduces a morphological adaptation method for path planning using a virtual slime mould model, expanding the understanding of bio-inspired computing for navigation tasks.

Findings

Successful path planning between two sources in a polygonal arena.

Effective obstacle avoidance via repulsion from obstacles.

Capability to select a single optimal path from multiple options.

Abstract

Using a particle model of slime mould we demonstrate scoping experiments which explore how path planning may be performed by morphological adaptation. We initially demonstrate simple path planning by a shrinking blob of virtual plasmodium between two attractant sources within a polygonal arena. We examine the case where multiple paths are required and the subsequent selection of a single path from multiple options. Collision-free paths are implemented via repulsion from the borders of the arena. Finally, obstacle avoidance is implemented by repulsion from obstacles as they are uncovered by the shrinking blob. These examples show proof-of-concept results of path planning by morphological adaptation which complement existing research on path planning in novel computing substrates.