TY - GEN
T1 - Robot guiding with obstacle avoidance algorithm for uncertain enviroments based on DTCNN
AU - Albós-Canals, J.
AU - Villasante-Bembibre, Jose Ás
AU - Consul-Pacareu, S.
AU - Riera-Baburés, Jordi
AU - Vilasis-Cardona, X.
PY - 2010
Y1 - 2010
N2 - This paper introduces two applications of Discrete Time Cellular Non-Linear Networks (DTCNN) in a robot guiding avoiding obstacles algorithm and prove the feasibility of both applications: a high data rate one, using a CMOS camera, and small data rate one, using ultrasonic sensors. The key value of DTCNNs is the locally connections and the parallelism in processing. These characteristics permit a hardware implementation, in our case over a Field Programmable Gate Arraw (FPGA) and a real time template based algorithm processing. A camera and an ultrasonic sensor are used as avoiding obstacles system, requiring both implemnetations, different inputs informations: the first one complex enviroment information and the later for basic situations information where impulsive response is required. Both input can have an enhanced behaviour within DTCNN structure.
AB - This paper introduces two applications of Discrete Time Cellular Non-Linear Networks (DTCNN) in a robot guiding avoiding obstacles algorithm and prove the feasibility of both applications: a high data rate one, using a CMOS camera, and small data rate one, using ultrasonic sensors. The key value of DTCNNs is the locally connections and the parallelism in processing. These characteristics permit a hardware implementation, in our case over a Field Programmable Gate Arraw (FPGA) and a real time template based algorithm processing. A camera and an ultrasonic sensor are used as avoiding obstacles system, requiring both implemnetations, different inputs informations: the first one complex enviroment information and the later for basic situations information where impulsive response is required. Both input can have an enhanced behaviour within DTCNN structure.
UR - http://www.scopus.com/inward/record.url?scp=79959466342&partnerID=8YFLogxK
U2 - 10.1109/IJCNN.2010.5596709
DO - 10.1109/IJCNN.2010.5596709
M3 - Conference contribution
AN - SCOPUS:79959466342
SN - 9781424469178
T3 - Proceedings of the International Joint Conference on Neural Networks
BT - 2010 IEEE World Congress on Computational Intelligence, WCCI 2010 - 2010 International Joint Conference on Neural Networks, IJCNN 2010
T2 - 2010 6th IEEE World Congress on Computational Intelligence, WCCI 2010 - 2010 International Joint Conference on Neural Networks, IJCNN 2010
Y2 - 18 July 2010 through 23 July 2010
ER -