Multi-Objective Path Planning for Autonomous Robots Using Reconfigurable Analog VLSI

Abstract

This paper presents a Multi-Objective path planning approach using reconfigurable Analog-Very-Large-Scale-Integrated (AVLSI) circuits. It is significant because it is the first example of floating-gate based analog resistive grid circuits used for Multi-Objective path planning. The two path planning objectives are 1) minimizing path length and 2) minimizing path cost. Three hardware experimental results are presented that implement the approach using a Field Programmable Analog Array (FPAA) circuit. First, an example demonstrates a simple proof-of-concept. Second, an example shows how the FPAA solution compares to an entire solution set for a specific Start and Goal path planning problem. Third, an example shows how the FPAA solution compares to two edge-cases. The edge-cases are the two ideals: ideal lowest cost path, and ideal shortest distance path. Based on these foundational proof-of-concept hardware results, larger environment grids than are currently implementable on the FPAA hardware were simulated to predict performance if a custom FPAA application specific integrated circuit (ASIC) was built for this Multi-Objective path planning purpose. Finally, analysis is presented to address this method's computational complexity.

Kesi̇r Dereceli̇ Kaos Tabanli Haberleşme Si̇stemleri̇ni̇n Fpaa Tasarimi

“…Bir ara yüz programı ile tasarlanan FPAA modelleri daha sonra karta yüklenerek deneysel sonuçlar elde edilir. FPAA yapılar, haberleşme (Salih, 2021;Günay ve Altun, 2017), sinyal işleme (Schlottmann ve Hasler, 2013;Hall vd., 2005), kontrol (Li vd., 2017), yapay sinir ağları (Moreno vd., 2021;Günay ve Altun, 2018;Hasler ve Shah, 2017), kaotik osilatörler (Altun, 2021) ve diğer mühendislik uygulamalar ı (Koziol, 2020;Yong vd., 2012;Baccigalupi ve Liccardo, 2007) gibi birçok alanda kullanılmıştır.…”

Potential Force Algorithm with Kinematic Control as Path Planning for Disinfection Robot

“…The equation for the potential attractive 𝑈 𝑎𝑡𝑡 (𝑥, 𝑦) is shown in (17) and the repulsive potential 𝑈 𝑟𝑒𝑝 (𝑥, 𝑦) is shown in (18),…”

“…It is derived by the quantum annealing Hamilton algorithm investigated by Huang [16]. Analog VLSI was used for multipurpose path planning for configurable autonomous robots and was investigated by Koziol [17]. Voronoi diagrams and computational geometry techniques used to route robots moving in dynamic environments have been investigated by Ayawli [18].…”

Design and Implementation of a Low Power Consumption of ASK, FSK PSK, and QSK Modulators Based on FPAA Technology

“…FPAA systems can be the portion of the secure application. FPAA systems can be utilized to examine the protection of analog-signal abilities [8], implement amplification, filters, arbitrary wave signal, [9] intelligent sensor programs [10], analog neural application [11], and path map of the robotics application [12]. The architectonics of the FPAA AN231E04 device used are displayed in detail in Fig.…”