Robotic Exploration and Landmark Determination

by Sridharan, K.; Kumar, Panakala Rajesh

• ISBN13: 9783540753933
• ISBN10: 3540753931
• Edition: 1st
• Format: Hardcover
• Copyright: 2008-01-15
• Publisher: Springer Verlag
• More Book Details
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Summary

This book presents hardware-efficient algorithms and FPGA implementations for two robotic tasks, namely exploration and landmark determination. The work identifies scenarios for mobile robotics where parallel processing and selective shutdown offered by FPGAs are invaluable. The book proceeds to systematically develop memory-driven VLSI architectures for both the tasks. The architectures are ported to a low-cost FPGA with a fairly small number of system gates.

Table of Contents

Introduction	p. 3
Motivation	p. 3
Addressing the Challenges	p. 7
Architecture of an FPGA-based Robot	p. 8
Contributions of this Research	p. 9
Organization of the Book	p. 11
Literature Survey	p. 13
Sensors and Processors for Mobile Robots	p. 13
Robotic Operation in Known and Unknown Environments	p. 15
Environment with Prior Knowledge of Object Geometries and Locations	p. 15
Unknown Environments	p. 16
FPGA-based Design	p. 22
Summary	p. 23
Design and Development of an FPGA-based Robot	p. 25
Motivation	p. 25
Overall Structure of the Mobile Robot	p. 26
Design of Ultrasonic Range Finder	p. 28
Power Delivery to FPGA Board and Ultrasonic Range Finders	p. 29
Logic Level Translator	p. 30
FPGA Board	p. 31
Interface Modules	p. 31
Pulse Width to Distance Converter (PWDC)	p. 31
Universal Asynchronous Transmitter (UAT)	p. 32
Description of Stepper Motor Interface	p. 32
Summary	p. 34
Hardware-Efficient Robotic Exploration	p. 35
Introduction	p. 35
Assumptions and Terminology	p. 36
The Proposed Algorithm	p. 37
Key Ideas	p. 37
Pseudo-Code for the Proposed Algorithm	p. 39
The Proposed Architecture for FPGA-based Processing	p. 44
Pulse Width to Distance Converters	p. 45
Content Addressable Memory	p. 45
Stack Memory	p. 47
Universal Asynchronous Transmitter (UAT)	p. 47
Delay Element	p. 47
Adjacency Information Storing Memory Blocks: APX, APY, AMX and AMY	p. 48
Memory Blocks Used for Map Construction: DPX, DPY, DMX, DMY, Visited Grid point_x and Grid point_y	p. 48
Input Gating for Reducing Energy Consumption	p. 49
Experimental Results	p. 50
General Remarks about Code and Demonstration	p. 59
Conclusions	p. 61
Hardware-Efficient Landmark Determination	p. 63
Motivation for Landmark Determination	p. 63
Assumptions and Terminology	p. 64
Proposed Algorithm	p. 66
Key Ideas	p. 66
The New Algorithm	p. 68
The Proposed Architecture	p. 71
Random Number Generation	p. 72
Processing Element (PE) Structure	p. 74
Global Memory Organisation	p. 76
Content Addressable Memory (CAM)	p. 77
Special Memory	p. 78
Adjacency Determination Unit	p. 79
Input Gating for Reducing Energy Consumption	p. 81
FPGA Implementation Results	p. 81
Summary	p. 86
The Road Ahead	p. 87
Contributions of this Research	p. 87
Extensions	p. 88
Other Types of Maps	p. 88
Navigation in Dynamic Environments	p. 88
Localization and other Tasks	p. 90
Concluding Remarks	p. 90
Key Verilog Modules for Robotic Exploration	p. 91
Suggestions for Mini-Projects	p. 129
References	p. 133
Index	p. 139
Information Theoretic Feature Selection and Projection	p. 1
Recognition of Tones in YorÙbÁ Speech: Experiments With Artificial Neural Networks	p. 23
Emotion Recognition from Speech Using Multi-Classifier Systems and RBF-Ensembles	p. 49
Modeling Supra-Segmental Features of Syllables Using Neural Networks	p. 71
Objective Speech Quality Evaluation Using an Adaptive Neuro-Fuzzy Network	p. 97
A Novel Approach to Language Identification Using Modified Polynomial Networks	p. 117
Speech/Non-Speech Classification in Hearing Aids Driven by Tailored Neural Networks	p. 145
Audio Signal Processing	p. 169
Democratic Liquid State Machines for Music Recognition	p. 191
Color Transfer and its Applications	p. 217
A Neural Approach to Unsupervised Change Detection of Remote-Sensing Images	p. 243
Fisher Linear Discriminant Analysis and Connectionist Model for Efficient Image Recognition	p. 269
Detection and Recognition of Human Faces and Facial Features	p. 283
Classification of Satellite Images with Regularized AdaBoosting of RBF Neural Networks	p. 307
Convolutional Neural Networks for Image Processing with Applications in Mobile Robotics	p. 327
SVM Based Adaptive Biometric Image Enhancement Using Quality Assessment	p. 351
Segmentation and Classification of Leukocytes Using Neural Networks: A Generalization Direction	p. 373
A Closed Loop Neural Scheme to Control Knee Flex-Extension Induced by Functional Electrical Stimulation: Simulation Study and Experimental Test on a Paraplegic Subject	p. 397
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