InforLorV4, Main, Merge, bibRecord, 004B49

Embedded harmonic control for dynamic trajectory planning on FPGA

Identifieur interne : 004B49 ( Main/Merge ); précédent : 004B48; suivant : 004B50

Embedded harmonic control for dynamic trajectory planning on FPGA

Auteurs : Bernard Girau [France] ; Amine Boumaza [France]

Source :

RBID : Hal:inria-00119491

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.

Url:

https://hal.inria.fr/inria-00119491

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Le 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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   |texte=   Embedded harmonic control for dynamic trajectory planning on FPGA
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Embedded harmonic control for dynamic trajectory planning on FPGA

Embedded harmonic control for dynamic trajectory planning on FPGA

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