InforLorV4, Main, Merge, bibRecord, 003E78

Embedded harmonic control for trajectory planning in large environments

Identifieur interne : 003E78 ( Main/Merge ); précédent : 003E77; suivant : 003E79

Embedded harmonic control for trajectory planning in large environments

Auteurs : Cesar Torres-Huitzil [Mexique] ; Bernard Girau [France] ; Amine Boumaza [France] ; Bruno Scherrer [France]

Source :

RBID : Hal:inria-00337628

Abstract

This paper presents an embedded FPGAbased architecture to compute navigation trajectories along a harmonic potential. The goals and obstacles may be changed during computation. Large environments are split into blocks. This approach, together with the use of an increasing precision, enables an optimization of the overall computation time that is theoretically and experimentally studied. Implementation results confirm outstanding speedup factors.

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https://hal.inria.fr/inria-00337628

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Le document en format XML

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<front><div type="abstract" xml:lang="en">This paper presents an embedded FPGAbased architecture to compute navigation trajectories along a harmonic potential. The goals and obstacles may be changed during computation. Large environments are split into blocks. This approach, together with the use of an increasing precision, enables an optimization of the overall computation time that is theoretically and experimentally studied. Implementation results confirm outstanding speedup factors.</div>
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Embedded harmonic control for trajectory planning in large environments

Embedded harmonic control for trajectory planning in large environments

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