Path Planning Based on Distance Transformation and Its VLSI Implementation | Zendy

Masanori Hariyama | Zendy; Michitaka Kameyama | Zendy

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Path Planning Based on Distance Transformation and Its VLSI Implementation

Author(s) -

Masanori Hariyama,

Michitaka Kameyama

Publication year - 2000

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2000.p0527

Subject(s) - bottleneck , workspace , computer science , motion planning , collision , path (computing) , robot , collision detection , transformation (genetics) , fast path , very large scale integration , selection (genetic algorithm) , parallel computing , embedded system , artificial intelligence , computer network , biochemistry , chemistry , computer security , gene

This paper presents a fast path planning method to find a feasible collision-free path. A collision-free path is searched for by iterations of selection of a robot configuration and collision detection for it. A most promising configuration is selected according to a minimum distance from every point in 3-D workspace and obstacles. The configuration selection keeps a robot as far away as possible from obstacles, and reduces the number of configurations for collision detection. Moreover, a highly-parallel processor based on logicin-memory architecture is proposed to overcome a transfer bottleneck between a memory and processing elements.

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