Title :
Three dimensional robot path planning using a field programmable analog array
Author :
Koziol, Scott ; Wunderlich, Ralf ; Hasler, J.
Author_Institution :
Electr. & Comput. Eng. Dept., Baylor Univ., Waco, TX, USA
Abstract :
A reconfigurable analog integrated circuit is used to solve for a robot´s path from a start point to a goal point among obstacles in a three dimensional environment. A bipartite grid algorithm is used to deterministically find a mapping from an arbitrary gridspace environment representation map with freespace and obstacles into transistors which implement the map on the reconfigurable analog circuit. 100% correct solutions were found using our hardware for sixteen Monte Carlo experimental cases.
Keywords :
Monte Carlo methods; field programmable analogue arrays; mobile robots; path planning; transistors; Monte Carlo experimental cases; arbitrary gridspace environment representation map; bipartite grid algorithm; field programmable analog array; goal point; reconfigurable analog integrated circuit; start point; three-dimensional robot path planning; transistors; Field programmable analog arrays; Hardware; Path planning; Robots; Three-dimensional displays; Transistors;
Conference_Titel :
Circuits and Systems (MWSCAS), 2014 IEEE 57th International Midwest Symposium on
Conference_Location :
College Station, TX
Print_ISBN :
978-1-4799-4134-6
DOI :
10.1109/MWSCAS.2014.6908398
