Mobile Robot Path-planning Implementation in Software and Hardware

摘要

Search algorithms represent a useful and reliable technique in solving path finding, path planning and obstacle-avoidance types of problems that appear in mobile robots applications. The paper presents different implementations, both in software and in hardware, of the Breath-First (BF) Search Algorithm. The software implementation uses the standard type Intel Pentium 4 Processor and Java software environment. We also implemented the search algorithm in a hardware-based environment, built upon Xilinx FPGA core technologies. The comparison shows that the hardware implementation is an alternative to the classical software implementation that is a larger resources and time consumer.