A compact rectangular solid representation of three-dimensional (3-D) objects is proposed for motion planning of intelligent robots. A VLSI-oriented algorithm that transforms the discrete point representation of a 3-D object to a rectangular solid representation is considered. A new architecture is proposed to perform matching operations between a rectangular solid and discrete points in parallel. Performance evaluation shows that the VLSI processor that implements the algorithm is 25,000 times faster than a RAM-based architecture.
|Number of pages
|Systems and Computers in Japan
|Published - 1998 Feb
- Content-addressable memory
- Minimization of multiple-valued logic functions
- Rectangular solid representation
- Special-purpose VLSI processor for robotics