DocumentCode :
1832400
Title :
A parallel algorithm and architecture for robot path planning
Author :
Ranganathan, N. ; Parthasarathy, Bharadwaj ; Hughes, Ken
Author_Institution :
Dept. of Comput. Sci. & Eng., Univ. of South Florida, Tampa, FL, USA
fYear :
1994
fDate :
26-29 Apr 1994
Firstpage :
275
Lastpage :
279
Abstract :
Path planning is an essential step in any mobile robot system. In this paper, we propose a parallel algorithm and architecture for this computationally intensive problem. The parallel implementation is based on the trulla algorithm proposed by the authors in Proc. 5th Intl. Conf. on Intelligent Robots and Systems, Raleigh, NC, USA (July 1992). The algorithm uses a wavefront-like propagation technique and computes the near-optimal paths from every point in the grid space to the specified destination. The algorithm is implemented on a linear systolic array architecture which is simple and regular in structure and can be implemented as a VLSI system. Currently, a prototype VLSI chip with 5 processor cells is being implemented
Keywords :
VLSI; computer vision; mobile robots; parallel algorithms; parallel architectures; path planning; robot programming; VLSI chip; computationally intensive problem; grid space; linear systolic array architecture; mobile robot system; near-optimal paths; parallel algorithm; parallel architecture; robot path planning; specified destination; trulla algorithm; vision-guided robotics; wavefront-like propagation technique; Computer architecture; Concurrent computing; Grid computing; Intelligent robots; Mobile robots; Parallel algorithms; Parallel robots; Path planning; Systolic arrays; Very large scale integration;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Parallel Processing Symposium, 1994. Proceedings., Eighth International
Conference_Location :
Cancun
Print_ISBN :
0-8186-5602-6
Type :
conf
DOI :
10.1109/IPPS.1994.288289
Filename :
288289
Link To Document :
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