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Path Planning Based on Distance Transformation and Its VLSI Implementation
Masanori Hariyama and Michitaka Kameyama
Received:February 28, 2000Accepted:July 8, 2000Published: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:M. Hariyama and M. Kameyama, “Path Planning Based on Distance Transformation and Its VLSI Implementation,” J. Robot. Mechatron., Vol.12 No.5, pp. 527-533, 2000.Data files:
Copyright© 2000 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.
