Path Planning Based on Distance Transformation and Its VLSI Implementation
Masanori Hariyama and Michitaka Kameyama
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.
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.
Copyright© 2000 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.