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Vision based Motion Planning using Cellular Neural Network

Iraji & Bagheri
Supervisor: Dr. Bagheri

Chua and Yang-CNN

       

Introduction Network Topology r-Neighborhood The Basic Cell Space Invariance State Equation Templates Block Diagram

 Introduced 1988.  Image Processing  Multi-disciplinary:

Robotic Biological vision Image and video signal processing Generation of static and dynamic patterns:

 Chua & Yang-CNN is widely used due to Versatility versus simplicity. Easiness of implementation.

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Network Topology
       

Introduction Network Topology r-Neighborhood The Basic Cell Space Invariance State Equation Templates Block Diagram

 Regular grid , i.e. matrix, of

cells.  In the 2-dimensional case:

Each cell corresponds to a pixel in the image. A Cell is identified by its position in the grid.

 Local connectivity.
Direct interaction among adjacent cells. Propagation effect -> Global interaction.

C(I , J)
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r - Neighborhood
       

Introduction Network Topology r-Neighborhood The Basic Cell Space Invariance State Equation Templates Block Diagram

 The set of cells within a certain distance r to

cell C(i,j). where r >=0.  Denoted Nr(i,j).  Neighborhood size is (2r+1)x(2r+1)

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The Basic Cell

       

Introduction Network Topology r-Neighborhood The Basic Cell Space Invariance State Equation Templates Block Diagram

 Cell C(i,j) is a dynamical system

The state evolves according to prescribed state equation.

 Standard Isolated Cell: contribution of state and input

variables is given by using weighting coefficients:

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Space Invariance
       

Introduction Network Topology r-Neighborhood The Basic Cell Space Invariance State Equation Templates Block Diagram

 Inner cells. same circuit elements and element values has (2r+1)^2 neighbors Space invariance.  Boundary cells.

Boundary Cells

Inner Cells

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State Equation
       

Introduction Network Topology r-Neighborhood The Basic Cell Space Invariance State Equation Templates Block Diagram

 xij is the state of cell Cij.  I is an independent bias constant.  yij(t) = f(xij(t)), where f can be any

convenient non-linear function.  The matrices A(.) and B(.) are known as cloning templates.  constant external input uij.
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Templates
       

Introduction Network Topology r-Neighborhood The Basic Cell Space Invariance State Equation Templates Block Diagram

 The functionality of the CNN array can be

controlled by the cloning template A, B, I  Where A and B are (2r+1) x (2r+1) real matrices  I is a scalar number in two dimensional cellular neural networks.

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Block diagram of one cell

       

Introduction Network Topology r-Neighborhood The Basic Cell Space Invariance State Equation Templates Block Diagram

 The first-order non-linear differential equation

defining the dynamics of a cellular neural network

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ROBOT PATH PLANNING USING CNN

        

Introduction Network Topology r-Neighborhood The Basic Cell Space Invariance State Equation Templates Block Diagram Path Planning By CNN

 Environment with obstacles must be divided into

discrete images.  Representing the workspace in the form of an MN cells.  Having the value of the pixel in the interval [-1,1].  Binary image, that represent obstacle and target and start positions.

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Flowchart of Motion Planning

         

Introduction Network Topology r-Neighborhood The Basic Cell Space Invariance State Equation Templates Block Diagram Path Planning By CNN Flowchart of Planning

CNN Computing

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Distance Evaluation
          

Introduction Network Topology r-Neighborhood The Basic Cell Space Invariance State Equation Templates Block Diagram Path Planning By CNN Flowchart of Planning Distance Evaluation

 Distance evaluation between free points from the

workspace and the target point. Using the template explore.tem a is a nonlinear function, and depends on the difference yij-ykl.

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SUCCESSIVE COMPARISONS METHOD

           

Introduction Network Topology r-Neighborhood The Basic Cell Space Invariance State Equation Templates Block Diagram Path Planning By CNN Flowchart of Planning Distance Evaluation Successive Comparison

 Path planning method

through successive comparisons.  Smallest neighbor cell from eight possible directions N, S, E, V, SE, NE, NV, SV, is chosen.
 Template from the

shift.tem family

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Motion Planning Methods

   

Basic concepts Proposed Model (FAPF) Local Minima Stochastic Learning Automata Adaptive planning system (AFAPF) Conclusions

 Global Approaches

Decomposition Road-Map Retraction Methods

Require a preprocessing stage (a graph structure of the connectivity of the robots free space)  Local Approaches: Need heuristics, e. g. the estimation of local gradients in a potential field  Randomized Approaches
 Genetic Algorithms
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