Title:
Robot Path Planning Using Field Programmable Analog Arrays
Robot Path Planning Using Field Programmable Analog Arrays
| dc.contributor.author | Koziol, Scott | |
| dc.contributor.author | Hasler, Jennifer | |
| dc.contributor.author | Stilman, Mike | |
| dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Interactive Computing | |
| dc.date.accessioned | 2012-07-19T21:14:25Z | |
| dc.date.available | 2012-07-19T21:14:25Z | |
| dc.date.issued | 2012-05 | |
| dc.description | ©2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | Presented at the 2012 IEEE International Conference on Robotics and Automation (ICRA), 14-18 May 2012, St Paul, MN. | |
| dc.description | DOI: 10.1109/ICRA.2012.6225303 | |
| dc.description.abstract | We present the successful application of reconfigurable Analog-Very-Large-Scale-Integrated (AVLSI) circuits to motion planning for the AmigoBot robot. Previous research has shown that custom application-specific-integrated-circuits (ASICs) can be used for robot path planning. However, ASICs are typically fixed circuit designs that require long fabrication times on the order of months. In contrast, our reconfigurable analog circuits called Field Programmable Analog Arrays (FPAAs) implement a variety of AVLSI circuits in minutes. We present experimental results of online robot path planning using FPAA circuitry, validating our assertion that FPAA-based AVLSI design is a feasible approach to computing complete motion plans using analog floating-gate resistive grids. We demonstrate the integration of FPAA hardware and software with a real robot platform and hardware in the loop simulations, present the trajectories developed by our planner and provide analysis of the time and space complexity of our proposed approach. The paper concludes by formulating metrics that identify domains where analog solutions to planning may be faster and more efficient than traditional, digital robot planning techniques. | en_US |
| dc.identifier.citation | Koziol, S., Hasler, P., & Stilman, M. (2012). "Robot Path Planning Using Field Programmable Analog Arrays". Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2012), 14-18 May 2012, pp.1747-1752. | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/44344 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | |
| dc.subject | Analog very large scale integrated circuit | en_US |
| dc.subject | Application specific integrated circuits | en_US |
| dc.subject | Field programmable analog arrays | en_US |
| dc.subject | Path planning | en_US |
| dc.subject | Robots | en_US |
| dc.title | Robot Path Planning Using Field Programmable Analog Arrays | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.author | Hasler, Jennifer | |
| local.contributor.corporatename | Humanoid Robotics Laboratory | |
| relation.isAuthorOfPublication | da2ccc86-1c57-49e7-b766-ceb2f9a4eac5 | |
| relation.isOrgUnitOfPublication | 05bf85fb-965e-425d-af8b-dbf56e0d9797 |