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

Koziol, Scott; Wunderlich, Richard B.; Hasler, Jennifer; Stilman, Mike

doi:10.1109/tsmc.2016.2573833

Cited by 13 publications

(23 citation statements)

References 52 publications

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“…Spatially-discretized, continuous-time analog PDE solutions provide between ×10,000 (conservative case) and ×1,000,000 (average case) in energy efficiency, while achieving a ×100 improvement in computational area in the same process. Example PDE solutions, built in FPAA infrastructure, confirm these expectations [33,[72][73][74]. Different forms of PDEs have been compiled and measured, including elliptical PDEs (path planning [74]), diffusive PDEs (dendrites [75]), as well as hyperbolic and hyperbolic with diffusion components (delay lines, dendritic word spotting, path planning [33,72,73]).…”

Section: Analog Numerics For Pde Solutionsmentioning

confidence: 89%

“…Example PDE solutions, built in FPAA infrastructure, confirm these expectations [33,[72][73][74]. Different forms of PDEs have been compiled and measured, including elliptical PDEs (path planning [74]), diffusive PDEs (dendrites [75]), as well as hyperbolic and hyperbolic with diffusion components (delay lines, dendritic word spotting, path planning [33,72,73]). Figure 10 shows an analog computing example (on an FPAA) of a second order wave propagating (hyperbolic), one-dimensional space and time, PDE.…”

Section: Analog Numerics For Pde Solutionsmentioning

confidence: 89%

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Starting Framework for Analog Numerical Analysis for Energy-Efficient Computing

Hasler

2017

JLPEA

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Abstract:The focus of this work is to develop a starting framework for analog numerical analysis and related algorithm questions. Digital computation is enabled by a framework developed over the last 80 years. Having an analog framework enables wider capability while giving the designer tools to make reasonable choices. Analog numerical analysis concerns computation on physical structures utilizing the real-valued representations of that physical system. This work starts the conversation of analog numerical analysis, including exploring the relevancy and need for this framework. A complexity framework based on computational strengths and weaknesses builds from addressing analog and digital numerical precision, as well as addresses analog and digital error propagation due to computation. The complimentary analog and digital computational techniques enable wider computational capabilities.

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Section: Analog Numerics For Pde Solutionsmentioning

confidence: 89%

Section: Analog Numerics For Pde Solutionsmentioning

confidence: 89%

Starting Framework for Analog Numerical Analysis for Energy-Efficient Computing

Hasler

2017

JLPEA

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“…If the target position is known, quite a few approaches have been proposed to minimize the searching time, see [6]- [9] and references therein. Clearly, these approaches cannot be directly applied here.…”

Section: Introductionmentioning

confidence: 99%

“…To estimate unknown target positions, various sensor measurements have been utilized, such as bearing angles [10], [11], ranges [12], and time difference of arrivals [13], [14]. However, most of existing works only consider either controlling a mobile vehicle to a known target position as fast as possible [6]- [9] or maximizing the estimation performance of sensor measurements [10]- [17]. In this work, they are called the control objective and the estimation objective, respectively, and are both essential for the target search problem.…”

Section: Introductionmentioning

confidence: 99%

Optimization-Based Control for Bearing-Only Target Search With a Mobile Vehicle

You

Song

et al. 2021

IEEE Trans. Syst. Man Cybern, Syst.

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This work aims to design an optimization-based controller for a discrete-time Dubins vehicle to approach a target with unknown position as fast as possible by only using bearing measurements. To this end, we propose a bi-objective optimization problem, which jointly considers the performance of estimating the unknown target position and controlling the mobile vehicle to a known position, and then adopt a weighted sum method with normalization to solve it. The controller is given based on the solution of the optimization problem in ties with a least-square estimate of the target position. Moreover, the controller does not need the vehicle's global position information. Finally, simulation results are included to validate the effectiveness of the proposed controller.

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“…In previous resistive grid path planning work, the resistive elements in the grid often took on one of two values: (1) low resistance to model passable paths or (2) high resistance to model impassable paths such as paths blocked by obstacles [21] or kinematically infeasible paths [28]. A significant aspect of this work is that these path's resistive elements have been implemented with floating-gate transistors [29], as suggested by Marshall and Tarassenko [21].…”

Section: Introductionmentioning

confidence: 99%

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

Koziol

2020

IEEE Access

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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.

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

Cited by 13 publications

References 52 publications

Starting Framework for Analog Numerical Analysis for Energy-Efficient Computing

Starting Framework for Analog Numerical Analysis for Energy-Efficient Computing

Optimization-Based Control for Bearing-Only Target Search With a Mobile Vehicle

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

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