The method of artificial potential field has obvious advantages among the robot path planning methods including simple structure,small amount of calculation and relatively mature in theory.This paper puts forward the&...The method of artificial potential field has obvious advantages among the robot path planning methods including simple structure,small amount of calculation and relatively mature in theory.This paper puts forward the"Integral method"focusing on solving the problem of local minimization.The method analyses the distribution of obstructions in a given environment and regards adjacent obstacles as a whole,By changing the parameters of the repulsive force field,robots can quickly get out of the minimum point and move to the target point.This paper uses the Simurosot platform to carry on the simulation experiment on the improved artificial potential field method,which projects a feasible path successfully and verifies this method.展开更多
Deep submicron process technology is widely being used and interconnect structures are becoming more and more complex.This means that the resistance calculation based on two-dimensional models can no longer provide su...Deep submicron process technology is widely being used and interconnect structures are becoming more and more complex.This means that the resistance calculation based on two-dimensional models can no longer provide sufficiently accurate results.This paper presents a three-dimensional resistance calculation method called the combined analytical formula and boundary element method(ABEM).The method cuts selected interconnecting lines then it calculates the resistances of straight sections using an analytical formula and the resistances of the other sections using the boundary element method(BEM).The resistances of the different sub-regions are combined to calculate the resistance of the entire region.Experiments on actual layouts show that compared with the commercial software Raphael based on finite difference method,the proposed method is 2-3 orders of magnitude faster.The ABEM method uses much less memory(about 0.1%-1%),and is more accurate than Raphael with default mesh partitions.The results illustrate that the proposed method is efficient and accurate.展开更多
文摘The method of artificial potential field has obvious advantages among the robot path planning methods including simple structure,small amount of calculation and relatively mature in theory.This paper puts forward the"Integral method"focusing on solving the problem of local minimization.The method analyses the distribution of obstructions in a given environment and regards adjacent obstacles as a whole,By changing the parameters of the repulsive force field,robots can quickly get out of the minimum point and move to the target point.This paper uses the Simurosot platform to carry on the simulation experiment on the improved artificial potential field method,which projects a feasible path successfully and verifies this method.
基金supported by National Science Foundation of China(No.90407004).
文摘Deep submicron process technology is widely being used and interconnect structures are becoming more and more complex.This means that the resistance calculation based on two-dimensional models can no longer provide sufficiently accurate results.This paper presents a three-dimensional resistance calculation method called the combined analytical formula and boundary element method(ABEM).The method cuts selected interconnecting lines then it calculates the resistances of straight sections using an analytical formula and the resistances of the other sections using the boundary element method(BEM).The resistances of the different sub-regions are combined to calculate the resistance of the entire region.Experiments on actual layouts show that compared with the commercial software Raphael based on finite difference method,the proposed method is 2-3 orders of magnitude faster.The ABEM method uses much less memory(about 0.1%-1%),and is more accurate than Raphael with default mesh partitions.The results illustrate that the proposed method is efficient and accurate.
