Title :
Embedded Harmonic Control for Trajectory Planning in Large Environments
Author :
Torres-Huitzil, Cesar ; Girau, Bernard ; Boumaza, Amine ; Scherrer, Bruno
Author_Institution :
Polytech. Univ. of Victoria, Ciudad Victoria
Abstract :
This paper presents an embedded FPGA-based 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.
Keywords :
embedded systems; field programmable gate arrays; mobile robots; navigation; optimisation; position control; FPGA-based architecture; embedded harmonic control; navigation trajectories; optimization; robot navigation; trajectory planning; Computer architecture; Concurrent computing; Digital circuits; Distributed computing; Embedded computing; Field programmable gate arrays; Navigation; Relaxation methods; Robots; Trajectory; FPGA; embedded systems; harmonic control; trajectory planning;
Conference_Titel :
Reconfigurable Computing and FPGAs, 2008. ReConFig '08. International Conference on
Conference_Location :
Cancun
Print_ISBN :
978-1-4244-3748-1
Electronic_ISBN :
978-0-7695-3474-9
DOI :
10.1109/ReConFig.2008.78
