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標題: FPGA-Based Parallel DNA Algorithm for Optimal Configurations of an Omnidirectional Mobile Service Robot Performing Fire Extinguishment
作者: Tsai, Ching-Chih
Huang, Hsu-Chih
Lin, Shui-Chun
關鍵字: DNA algorithm
embedded system
fieldprogrammable gate-array (FPGA)
omnidirectional mobile robot
parallel processing
出版社: IEEE Industrial Electronics Society
摘要: This paper presents a coarse-grain parallel deoxyribonucleic acid (PDNA) algorithm for optimal configurations of an omnidirectional mobile robot with a five-link robotic arm. This efficient coarse-grain PDNA is proposed to search for the global optimum of the redundant inverse kinematics problem with minimal movement, thereby showing better population diversity and avoiding premature convergence. Moreover, the pipelined hardware implementation, hardware/software co-design, and System-on-a-Programmable-Chip (SoPC) technology on a fieldprogrammable gate array (FPGA) chip are employed to realize the proposed PDNA in order to significantly shorten its processing time. Simulations and experimental results are conducted to illustrate the merit and superiority of the proposed FPGA-based PDNA algorithm in comparison with conventional genetic algorithms (GAs) for omnidirectional mobile robot performing fire extinguishment.
ISSN: 0278-0046
Appears in Collections:電機工程學系所



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