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Proceedings Paper

Calculating potential fields using microchannel spatial light modulators
Author(s): Max B. Reid
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Paper Abstract

We describe and present experimental results of the optical calculation of potential field maps suitable for mobile robot navigation. The optical computation employs two write modes of a microchannel spatial light modulator (MSLM). In one mode, written patterns expand spatially, and this characteristic is used to create an extended two dimensional function representing the influence of the goal in a robot's workspace. Distinct obstacle patterns are written in a second, non-expanding, mode. A model of the mechanisms determining MSLM write mode characteristics is developed and used to derive the optical calculation time for full potential field maps. Field calculations at a few hertz are possible with current technology, and calculation time vs. map size scales favorably in comparison to digital electronic computation.

Paper Details

Date Published: 12 January 1993
PDF: 12 pages
Proc. SPIE 1772, Optical Information Processing Systems and Architectures IV, (12 January 1993); doi: 10.1117/12.140917
Show Author Affiliations
Max B. Reid, NASA Ames Research Ctr. (United States)

Published in SPIE Proceedings Vol. 1772:
Optical Information Processing Systems and Architectures IV
Bahram Javidi, Editor(s)

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