Robot Path Planning Using Analog Circuit Phase Delay

doi:10.1109/TSMC.2018.2868751

2019-01-01

PRE

Scott Koziol *

DOI：10.1109/TSMC.2018.2868751

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摘要

En 中文

A robot's motion planner should find a path from its current location to its goal in an optimum way, where optimality in this paper is the shortest path. This paper proposes a new method of decision making using a phase delay technique. The robot's workspace is converted into a resistive-capacitive grid network, and the path is found by measuring and comparing the propagation times for a signal from the goal to the robot's next possible positions. A reconfigurable AVLSI architecture based on floating-gate transistors is proposed and simulation results with analytical complexity analysis equations are presented to describe the algorithm's performance. Finally, results from a robot hardware-in-the-loop platform are presented.

Keyword:

Robots

Delays

Mathematical model

Path planning

Transistors

Propagation

Analog circuits

Analog

field programmable analog array (FPAA)

path planning

robot

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期刊

IEEE Transactions on Cybernetics

IF:

10.5

论文数:

1.1W

被引数:

5.0W

机构

Baylor University

学者数:

6.3K

论文数: 5.4K

被引数: 5.2K

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