The Use Of Systolic Arrays In Robot Vision

Basic robot planning and control problems such as vision-based motion planning and feedback control are well suited for parallel processing by low-cost, special purpose VLSI devices. A vision-based fast planning and control unit based on commercially available systolic chips (binary array processors) is presented. A new parallel algorithm, the coordinated border-follow algorithm, for determining admissible movements in obstacle-filled environments, has been developed. Because dataflow is simple and regular and multiprocessing is used, the algorithm is well suited for VLSI implementation.

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