International Journal of Electronics, Communication & Instrumentation Engineering Research and Development (IJECIERD) ISSN 2249-684X Vol.2, Issue 2 June 2012 19-29 © TJPRC Pvt. Ltd., AN EFFICIENT ARCHITECTURE FOR ROBOTIC PATH PLANNING M.VIJAY 1 & M.JAGADEESWARI 2 1 P.G. Scholar 2 Professor & Head Dept. of VLSI DESIGN, 1,2 sri Ramakrishna Engineering College coimbatore-641022 Tamilnadu, India ABSTRACT There are many path planning algorithms designed for mobile robots with software implementation. In the case of dynamic environments high-speed planning and recomputation of paths is necessary to avoid collision of robots with moving objects. A hardware-efficient algorithm is presented for finding a path of a mobile robot on image of an environment captured by an overhead camera. The algorithm computes the shortest path to identify collision free region for the robot. If multiple paths are provided, the path is traced to nearest path. 2-D cell architecture has been presented for the Euclidean distance Transform (EDT) and Nearest Neighbor Transform (NNT) for operating at high speed. The simulation result shows that the architecture is suitable for path planning in a dynamic environment containing obstacles with arbitrary shape and motion. KEYWORDS: Euclidean distance transform (EDT), Nearest Neighbor Transform (NNT), image, path planning, dynamic environment. INTRODUCTION The development of robots that are able to assist humans in their day-to-day tasks has become a popular research area over the last few years [6], [11]. Mobile manipulator systems public service robots (PSRs1 and 2) perform delivery, patrol, and floor-cleaning jobs [8]. The guide robot provides exhibition guide services at a museum. These robots are equipped with a few laser range finders (LRFs) for localization and obstacle detection. The PSR1 and PSR2 are driven by active caster-typed holonomic omni directional wheels. The guide robot uses conventional two-wheel differential-type wheels. Basically, these robots share common control architecture. Some software components were partially modified according to the target robot system.. The control architecture design, navigation system, and behavior selection framework were proposed in [16] for each robot. The focus on the localization problem whose solution will enable robots to carry out dependable navigation in dynamic indoor environments depends upon algorithm. Localization as in [16] is one of the most important issues for successful autonomous navigation, and a great number of localization methods have been proposed so far. Many studies have addressed about position tracking problems. According to the International Federation of Robotics (IFR), ‘‘a service robot is a robot which operates semi or fully autonomously to perform services useful to the well being of human and equipment, excluding manufacturing operations’’ [6]. These devices are typically complex systems requiring the input of knowledge from numerous