A Novel approach and Implementation of Robot path planning using Parallel processing algorithm

摘要

This paper presents an algorithm for mobile robot path planning to move in a freely spaced self service canteen environment. The robot finds the free space points in the environment. Map of environment will be constructed after exploration. The model of the environment is updated when obstacles appear and a new path of exploration is established by the mobile robot according to the situation. Initially the paths generated by the algorithm will be negotiable paths. However, the robot chooses the appropriate path as it acquires more knowledge about the environment. The architecture is generated for the algorithm through Xilinx synthesis tool and also makes uses of data from sensors for processing. It uses the distance transform methodology to generate paths for the robot to execute. In particular, we present an algorithm for parallel processing and generation of map by a mobile robot equipped merely with inexpensive ultrasonic sensors and a low-end Field Programmable Gate Array (FPGA) device.