Robot multi-driving controls by cellular neural networks

Author

Kanaya, Mitsuhisa ; Tanaka, Mamoru

Author_Institution

Dept. of Electr. & Electron. Eng., Sophia Univ., Tokyo, Japan

fYear

1994

fDate

18-21 Dec 1994

Firstpage

481

Lastpage

486

Abstract

We propose a novel method based on the local current comparison method for planning the moving paths of a multi-robot and give some simulation results. This method uses an analog resistive network, competitive networks to find the maximum local current, and a digital-type cellular neural network to search the path. The local current comparison method is related to neighbour node analysis, and this method is suitable as the hardware on the analog-digital hybrid chip. Its basic principle is based on analog dynamics, and it makes the plans so fast that plans can be generated in real-time for robots moving comparatively quickly

Keywords

cellular neural nets; cooperative systems; mobile robots; path planning; real-time systems; robot dynamics; simulation; analog dynamics; analog resistive network; analog-digital hybrid chip; cellular neural networks; competitive network; digital-type cellular neural network; hardware; local current comparison method; maximum local current; moving path planning; multi-robot; node analysis; path searching; real-time system; robot multi-driving controls; simulation; Cellular networks; Cellular neural networks; Neural networks; Neurons; Orbital robotics; Path planning; Retina; Robot control; Robot kinematics; Silicon;

fLanguage

English

Publisher

ieee

Conference_Titel

Cellular Neural Networks and their Applications, 1994. CNNA-94., Proceedings of the Third IEEE International Workshop on

Conference_Location

Rome

Print_ISBN

0-7803-2070-0

Type

conf

DOI

10.1109/CNNA.1994.381628

Filename

381628