By Topic

Associative memory implementation in path-planning for mobile robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
E. Badreddin ; Inst. of Autom. Control, Swiss Federal Inst. of Technol., Zurich, Switzerland

A solution to the path-planning problem for mobile robots is proposed. The solution is based on a geometrical model, a logical model, and an associative memory. The geometrical modeling is done by a graph produced by analog-mapping preference gangways in the environment. The path search is made by a best-first algorithm in the logical model. The costs of the individual graph arcs are dynamically updated. During the search, the associative memory is repeatedly consulted for an available path. When a valid path is found it is learned by the memory for later use. For the memory, the path is tristate-encoded and preprocessed by the graph connection matrix. An example is given to illustrate the operation of the associative memory

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990