Motion Planning Algorithms Using DISC

Motion planning is a process of dividing movement task from start to goal positions into discrete motions, which do not intersect with given obstacles. Most of motion planning algorithms are based on special data structure called visibility graph or roadmap. Each roadmap node represents possible position of robot in space, each edge represents visibility between nodes. The start and goal positions of the robot are connected to the graph and the shortest path between them is searched. Autonomous robots are one of the motion planning application areas. They require high performance and low power consumption in motion planning. These requirements can be met by using DISC (Discrete Mathematics Instruction Set Computer), because it gives good speedup on graph operations and has low power consumption. This paper presents using DISC in several motion planning algorithms and describes their implementation.