Abstract
This paper introduces the concept of a resistive grid for solving the path planning problem for a mobile robot in real time. The robot’s environment is mapped onto a grid of hexagonal or rectangular cells of uniform resistance except that obstacles are represented by regions of infinite resistance. If current is injected at the nodes corresponding to the robot’s present position and its goal, the path of maximum current will give a guaranteed path to the goal. The method is particularly amenable to implementation in VLSI. A test chip using novel amorphous silicon technology has been fabricated.
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© 1991 Springer Science+Business Media New York
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Tarassenko, L., Marshall, G., Gomez-Castaneda, F., Murray, A. (1991). Parallel Analogue Computation for Real-Time Path Planning. In: Delgado-Frias, J.G., Moore, W.R. (eds) VLSI for Artificial Intelligence and Neural Networks. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-3752-6_9
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DOI: https://doi.org/10.1007/978-1-4615-3752-6_9
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4613-6671-3
Online ISBN: 978-1-4615-3752-6
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