Robotic path planning solution using phase delay in analog circuits.
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Garvey, Sean E., 1992-
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Path planning is a principle component of research in the field of robotics. The purpose of any path planning method is to successfully determine an efficient path that navigates an environment while avoiding various obstacles. Typically, path planning algorithms are developed using digital or computer based systems. Some of the more traditional techniques, such as Breadth First Search (BFS) and A*, are foundational to many methods used in this field. Recently, path planning methods have expanded to include analog circuits in at least part of the solution process. This thesis presents a new path planning technique, the Phase Delay Method, that uses an analog grid environment for its path planning. Results will show that as the solution length increases, this solution method outperforms digital solutions in terms of time and memory performance and will work with larger grids than other analog path planning methods.