Three dimensional robot path planning using a field programmable analog array
Circuits and Systems（2014）
摘要
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.
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关键词
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
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