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Robot Path Planning Using Analog Circuit Phase Delay
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DOI：10.1109/TSMC.2018.2868751.png)
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Abstract
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.
Keywords:
Robots
Delays
Mathematical model
Path planning
Transistors
Propagation
Analog circuits
Analog
field programmable analog array (FPAA)
path planning
robot
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