Embedded harmonic control for dynamic trajectory planning on FPGA
Identifieur interne : 003B53 ( Hal/Checkpoint ); précédent : 003B52; suivant : 003B54Embedded harmonic control for dynamic trajectory planning on FPGA
Auteurs : Bernard Girau [France] ; Amine Boumaza [France]Source :
Abstract
This paper presents a parallel hardware implementation of a well-known navigation control method on reconfigurable digital circuits. Trajectories are estimated after an iterated computation of the harmonic functions, given the goal and obstacle positions of the navigation problem. The proposed massively distributed implementation locally computes the direction to choose to get to the goal position at any point of the environment. Changes in this environment may be immediately taken into account, for example when obstacles are discovered during an on-line exploration. The implementation results show that the proposed architecture simultaneously improves speed, power consumption, precision, and environment size.
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Hal:inria-00119491Le document en format XML
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<front><div type="abstract" xml:lang="en">This paper presents a parallel hardware implementation of a well-known navigation control method on reconfigurable digital circuits. Trajectories are estimated after an iterated computation of the harmonic functions, given the goal and obstacle positions of the navigation problem. The proposed massively distributed implementation locally computes the direction to choose to get to the goal position at any point of the environment. Changes in this environment may be immediately taken into account, for example when obstacles are discovered during an on-line exploration. The implementation results show that the proposed architecture simultaneously improves speed, power consumption, precision, and environment size.</div>
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<idno type="halRefHtml">The IASTED International Conference on Artificial Intelligence and Apllications - AIA 2006, Feb 2007, Innsbruck, Australia. 2007</idno>
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<idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
<idno type="stamp" n="INPL">Institut National Polytechnique de Lorraine</idno>
<idno type="stamp" n="LORIA2">Publications du LORIA</idno>
<idno type="stamp" n="INRIA-NANCY-GRAND-EST">INRIA Nancy - Grand Est</idno>
<idno type="stamp" n="LORIA-CSAI" p="LORIA">Systèmes complexes et intelligence artificielle</idno>
<idno type="stamp" n="LORIA">LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications</idno>
<idno type="stamp" n="INRIA2">INRIA 2</idno>
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<sourceDesc><biblStruct><analytic><title xml:lang="en">Embedded harmonic control for dynamic trajectory planning on FPGA</title>
<author role="aut"><persName><forename type="first">Bernard</forename>
<surname>Girau</surname>
</persName>
<email>Bernard.Girau@loria.fr</email>
<idno type="halAuthorId">56303</idno>
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</author>
<author role="aut"><persName><forename type="first">Amine</forename>
<surname>Boumaza</surname>
</persName>
<email>amine.boumaza@loria.fr</email>
<idno type="halAuthorId">151546</idno>
<orgName ref="#struct-300292"></orgName>
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<monogr><meeting><title>The IASTED International Conference on Artificial Intelligence and Apllications - AIA 2006</title>
<date type="start">2007-02-12</date>
<settlement>Innsbruck</settlement>
<country key="AU">Australia</country>
</meeting>
<imprint><date type="datePub">2007-02-12</date>
</imprint>
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<classCode scheme="halDomain" n="info.info-au">Computer Science [cs]/Automatic Control Engineering</classCode>
<classCode scheme="halTypology" n="COMM">Conference papers</classCode>
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<abstract xml:lang="en">This paper presents a parallel hardware implementation of a well-known navigation control method on reconfigurable digital circuits. Trajectories are estimated after an iterated computation of the harmonic functions, given the goal and obstacle positions of the navigation problem. The proposed massively distributed implementation locally computes the direction to choose to get to the goal position at any point of the environment. Changes in this environment may be immediately taken into account, for example when obstacles are discovered during an on-line exploration. The implementation results show that the proposed architecture simultaneously improves speed, power consumption, precision, and environment size.</abstract>
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