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A VLSI sensory-motor architecture for an obstacle avoidance task in an unstructured environment

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A VLSI sensory-motor architecture for an obstacle avoidance task in an unstructured environment

Claveau, C. David (2002) A VLSI sensory-motor architecture for an obstacle avoidance task in an unstructured environment. Masters thesis, Concordia University.

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Abstract

Obstacle avoidance is a difficult task for autonomous robots. To overcome limitations of traditional computer vision systems, some robots have made use of efficient VLSI sensory-motor systems. However, because the processing in these systems is at the pixel level, it is difficult to achieve algorithms that can deal with real-world, unstructured environments. To make these VLSI sensory-motor systems more widely applicable, new architectures and strategies are needed. This thesis presents an architecture for a VLSI sensory-motor system designed for obstacle avoidance by a mobile robot in an unstructured environment. Drawing inspiration from biology and behavior-based robotics, the development of the architecture is guided by an emphasis on the requirements of an obstacle avoidance behavior for a mobile robot. The architecture incorporates features which enable it to deal with unstructured environments. A special foveation and weighting scheme are used to facilitate the detection of real-world objects. The sensory and motor maps of the system are aligned to relate features in the visual field to a left and a right control signal. The effectiveness of the architecture is demonstrated through computer simulation. A model of a sensory-motor system based on the architecture is used to create a realistic looking virtual environment simulator. Simulation results show that such a system is capable of efficient obstacle avoidance in an unstructured environment, while using only a small number of simple operations connected hierarchically, potentially leading to an implementation with small pixels

Divisions:Concordia University > Faculty of Engineering and Computer Science > Electrical and Computer Engineering
Item Type:Thesis (Masters)
Authors:Claveau, C. David
Pagination:ix, 107 leaves : ill. ; 29 cm.
Institution:Concordia University
Degree Name:Theses (M.A.Sc.)
Program:Electrical and Computer Engineering
Date:2002
Thesis Supervisor(s):Wang, Chunyan
ID Code:1918
Deposited By:Concordia University Libraries
Deposited On:27 Aug 2009 13:23
Last Modified:08 Dec 2010 10:23
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