Mobile robot path-planning implementation in software and hardware

  • Authors:

  • Lucia Vacariu;Flaviu Roman;Mihai Timar;Tudor Stanciu;Radu Banabic;Octavian Cret

  • Affiliations:

  • Computer Science Department, Technical University of Cluj-Napoca, Cluj-Napoca, Romania;Computer Science Department, Technical University of Cluj-Napoca, Cluj-Napoca, Romania;Computer Science Department, Technical University of Cluj-Napoca, Cluj-Napoca, Romania;Computer Science Department, Technical University of Cluj-Napoca, Cluj-Napoca, Romania;Computer Science Department, Technical University of Cluj-Napoca, Cluj-Napoca, Romania;Computer Science Department, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

  • Venue:
  • ISPRA'07 Proceedings of the 6th WSEAS International Conference on Signal Processing, Robotics and Automation
  • Year:
  • 2007

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Abstract

Search algorithms represent a useful and reliable technique in solving path finding, path planning and obstacle-avoidance types of problems that appear in mobile robots applications. The paper presents different implementations, both in software and in hardware, of the Breath-First (BF) Search Algorithm. The software implementation uses the standard type Intel Pentium 4 Processor and Java software environment. We also implemented the search algorithm in a hardware-based environment, built upon Xilinx FPGA core technologies. The comparison shows that the hardware implementation is an alternative to the classical software implementation that is a larger resources and time consumer.