The Transactions of the Korean Institute of Electrical Engineers D (대한전기학회논문지:시스템및제어부문D)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

Analog Celluar Nonlinear Circuits-Based Dynamic Programming with Subgoal Setting

서브 골 설정에 의한 아날로그 셀룰라 비선형 회로망 기반 동적계획법

  • 김형석 (전북대 공대 전자정보공학부) ;
  • 박진희 (한국전자통신연구원) ;
  • 손홍락 (전북대 공대 전자정보공학부) ;
  • 이재철 (전북대 공대 전자정보공학부) ;
  • 이왕희 (전북대 공대 전자정보공학부)
  • Published : 2000.10.01
Download PDF
⟨ Previous Next ⟩

Abstract

A fast optimal path planning algorithm using the analog Cellular Nonlinear Circuits(CNC) is proposed. The analog circuits based optimal path planning is very useful since most of the optimal path planning problems require real time computation. There has already been a previous study to implement the dynamic programming with analog circuits. However, it could not be applied for the practically large size of problems since the algorithm employs the mechanism of reducing its input current/voltage by the amount of cost, which causes outputs of distant cells to become zero. In this study, a subgoal-based dynamic programming algorithm to compute the optimal path is proposed. In the algorithm, the optimal paths are computed regardless of the distance between the starting and the goal points. It finds subgoals starting from the starting point when the output of the starting cell is raised from its initial value. The subgoal is set as the next initial position to find the next subgoal until the final goal is reached. The global optimality of the proposed algorithm is discussed and two different kinds of simulations have been done for the proposed algorithm.

Keywords

References

  1. T. Nishimura, S. Nozaki, and R. Oka, 'Spotting-based global positioning with nonmonotonic continuous DP for mobile robots using image sequences,' Proceedings 1999 IEEE/RSJ International Conference on Intelligence Robots and Systems, vol. 1, pp. 329-337, Oct. 1999 https://doi.org/10.1109/IROS.1999.813025
  2. S. Singh and M. C. Leu, 'Optimal trajectory generation for robotic manipulators using dynamic programming,' ASME Journal of Dynamic Systems, Measurement, and Control, vol. 109, no. 6, pp.88-96, 1987
  3. C.-J. Hou, 'Routing virtual circuits with timing requirements in virtual path based ATM networks, ' Proceedings of IEEE INFOCOM'96, vol.1, pp.320-328, 1996 https://doi.org/10.1109/INFCOM.1996.497909
  4. X. Yuan,' On the extended Bellman-Ford algorithm to solve two-constrained quality of service routing problems,' Proceedings of IC3N'99: Eighth International Conference on Computer Communications and Networks,' pp.304-310, Oct. 1999 https://doi.org/10.1109/ICCCN.1999.805535
  5. A. F. Bobick and S. S. Intille, 'Large occlusion stereo,' International Journal of Computer Vision, vol. 35, no. 3, pp. 269-293, 1999 https://doi.org/10.1023/A:1008150329890
  6. S. Birchfield and C. Tomasi, 'Depth discontinuities by pixel-to-pixel stereo,' International Journal of Computer vision, vol. 35, no. 3, pp. 269-293, 1999 https://doi.org/10.1023/A:1008160311296
  7. H. J. Ney and S. Ortmanns, 'Dynamics programming search for continuous speech recognition,' IEEE Signal Processing Magazine, pp. 64-83, Sept. 1999 https://doi.org/10.1109/79.790984
  8. F. Itakura, 'Minimum prediction residual principal applied to speech recognition,' IEEE Trans. on Acoustic, Speech and Signal Processing, vol. ASSP-23, pp. 67-72, Feb. 1975
  9. M. K. M. Ali and F. Kamoun, 'Neural networks for shortest path computation and routing in computer networks,' IEEE Trans. Neural Networks, vol. 4, pp. 931-940, Nov. 1993 https://doi.org/10.1109/72.286889
  10. C. Chiu, C. Y. Maa, and M. A. Shanblatt, 'Energy function analysis of dynamics programming neural networks,' IEEE Trans. Neural Networks, vol. 2, pp. 418-426, 1991 https://doi.org/10.1109/72.88161
  11. L. Zhang and S. C. A. Thomopoulos, 'Neural network implementation of the shortest path algorithm for traffic routing in communication networks,' in Proc. Int. Joint Conf. Neural Networks, June 1989, pp. II 591 https://doi.org/10.1109/IJCNN.1989.118375
  12. K. Soumyanath and V. S. Borkar, ' An analog scheme for fixed-point computation-part II: application,' IEEE Trans. on Circuits and Systems-I: Fundamental Theory and Application, vol. 46, no.4, pp.442-451, April 1999 https://doi.org/10.1109/81.754845
  13. M. Sasaki, T. Inoue, Y. Shirai, and F. Ueno, 'Fuzzy multiple input maximum and minimum circuits in the current mode and their analysis using bounded difference equations,' IEEE Trans. Computer, vol.39, pp. 768-774, June 1990 https://doi.org/10.1109/12.53598
  14. L. O. chua and L. Yang,' Cellular neural networks: Theory and applications,' IEEE Trans. on Circuits and Systems, vol. 35, pp. 1257-1290, 1988 https://doi.org/10.1109/31.7600
  15. T. Roska and L. O. Chua, The CNN universal machine: an analogic array computer, IEEE Tr. on Circuits Systems II: Analog Digital Signal Process., 40, pp. 163-173, 1993 https://doi.org/10.1109/82.222815
  16. T. Roska and L. O. Chua, Cellular neural networks with non-linear and delay-type template elements and non-uniform grid, International Journal of Circuit Theory and Applications, vol. 20, pp. 469-481, 1992 https://doi.org/10.1002/cta.4490200504
  17. H. Harrer, 'Multiple layer discrete-time cellular neural networks using time-variant templates,' IEEE Tr. on Circuits and Systems-II: Analog and Digital Signal Processing, vol. 40, no. 3, pp. 191-199, March 1993 https://doi.org/10.1109/82.222818
  18. P. L. Venetianer, P. Szolgay, K. R. Crounse, T. Roska, and L. O. Chua, 'Analog Combiantorics and Cellular Automata- Key Algorithms and Layout Design,' CNNA-94, Italy, Dec. 1994
  19. SimCNN-Multi-layer CNN Simulator, Program Logic Manual, Analogical and Neural Computing Laboratory, Computer and Automation Institute(MTA SZTAKI) of the Hungarian Academy of Sciences, Budapest, Hungary, 1997
  20. E. W. Dijkstra, 'A note on two problems in connexion with graphs,' Number. Math., vol. 9, pp. 269-271, 1959 https://doi.org/10.1007/BF01386390