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
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