A 28nm 142mW Motion-Control SoC for Autonomous Mobile Robots

📋 论文概要

该论文提出了一款28nm工艺、功耗142mW的运动控制SoC，用于自主移动机器人（AMR）。它通过轨迹优化和物理模型生成命令序列，解决了快速变化环境下运动控制的实时性和低功耗需求。

💡 主要创新点

• 采用28nm工艺实现低功耗运动控制SoC，功耗仅142mW，适用于电池供电的自主移动机器人。
• 通过轨迹优化和物理模型实时生成运动控制命令序列，提升机器人在动态环境中的响应速度和精度。

🏷 关键词

📄 原文摘要

(AMRs) have proven useful for smart factories and have potential to revolutionize critical missions, such as disaster rescue [1]. As illustrated in Fig. 2.5.1, AMRs can perceive the environment, plan for assigned tasks and act on the plan [2]. Motion control is critical to trajectory adjustment for joint control or intelligent navigation, especially when AMRs are operated in a fast-changing environment. This is accomplished through trajectory optimization to refine the robot states using a physics model [3]. A command sequence for motion control is generated by taking the next possible states into account. The next states of the trajectory are predicted by robots’ dynamics. As one would expect, robots can respond faster and act more resiliently when

👥 作者与机构

I-Ting Lin1, Zih-Sing Fu1, Wen-Ching Chen2, Liang-Yi Lin2, Nian-Shyang Chang2,

Chun-Pin Lin2, Chi-Shi Chen2, Chia-Hsiang Yang1 National Taiwan University, Taipei, Taiwan Taiwan Semiconductor Research Institute, Hsinchu, Taiwan 1 2 Autonomous mobile robots