Title :
Analog VLSI for robot path planning
Author :
Stan, Mircea ; Burleson, Wayne
Author_Institution :
Dept. of Electr. & Comput. Eng., Massachusetts Univ., Amherst, MA, USA
Abstract :
The use of analog VLSI as a convenient, high-performance engine for robot path planning is discussed. Laplace´s equation is a useful formulation of the path planning problem, but digital solutions are very expensive. Since high precision is not required, an analog approach is attractive. A resistive network can be used to model the robot´s domain with various boundary conditions for the source, target and obstacles. A gradient descent can then be traced through the network by comparing node voltages. Two VLSI chips have been designed using the MAGIC Tool Suite and have been fabricated in a 2-μm, double-metal, single-poly digital CMOS process
Keywords :
CMOS integrated circuits; VLSI; analogue processing circuits; mobile robots; path planning; 2 micron; Laplace´s equation; MAGIC Tool Suite; analog VLSI; boundary conditions; double-metal process; gradient descent; node voltages; resistive network; robot path planning; single-poly digital CMOS process; Analog computers; Boundary conditions; Concurrent computing; Difference equations; Laplace equations; Orbital robotics; Path planning; Robots; Very large scale integration; Voltage;
Conference_Titel :
Signals, Systems and Computers, 1992. 1992 Conference Record of The Twenty-Sixth Asilomar Conference on
Conference_Location :
Pacific Grove, CA
Print_ISBN :
0-8186-3160-0
DOI :
10.1109/ACSSC.1992.269087
