Path Planning Based on Distance Transformation and Its VLSI Implementation

Masanori Hariyama; Michitaka Kameyama

doi:10.20965/jrm.2000.p0527

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JRM Vol.12 No.5 pp. 527-533

doi: 10.20965/jrm.2000.p0527

(2000)

Paper:

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Path Planning Based on Distance Transformation and Its VLSI Implementation

Masanori Hariyama and Michitaka Kameyama

Received:

February 28, 2000

Accepted:

July 8, 2000

Published:

October 20, 2000

Keywords:

Collision detection, Logic-in-memory architecture, Intelligent integrated systems

Abstract

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.

Cite this article as:

Masanori Hariyama and Michitaka Kameyama, “Path Planning Based on Distance Transformation and Its VLSI Implementation,” J. Robot. Mechatron., Vol.12, No.5, pp. 527-533, 2000.

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