Calculating potential fields using microchannel spatial light modulators

Max B. Reid

doi:10.1117/12.140917

12 January 1993 Calculating potential fields using microchannel spatial light modulators

Max B. Reid

Proceedings Volume 1772, Optical Information Processing Systems and Architectures IV; (1993) https://doi.org/10.1117/12.140917
Event: San Diego '92, 1992, San Diego, CA, United States

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.

Citation Download Citation

Max B. Reid "Calculating potential fields using microchannel spatial light modulators", Proc. SPIE 1772, Optical Information Processing Systems and Architectures IV, (12 January 1993); https://doi.org/10.1117/12.140917

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