Hardware-Efficient Image-Based Robotic Path Planning in a Dynamic Environment and Its FPGA Implementation

@article{Sudha2011HardwareEfficientIR,
  title={Hardware-Efficient Image-Based Robotic Path Planning in a Dynamic Environment and Its FPGA Implementation},
  author={N. Sudha and A. R. Mohan},
  journal={IEEE Transactions on Industrial Electronics},
  year={2011},
  volume={58},
  pages={1907-1920}
}
This paper presents a hardware-efficient algorithm and a very large scale integration architecture for finding a path for a mobile robot on the image of an environment captured by an overhead camera. The algorithm computes a distance map to identify the collision-free region for the robot and then constructs a breadth-first search tree to find a path in that region. The path obtained from a start point to the goal is the shortest path in terms of the number of steps. The time-critical part of… CONTINUE READING
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