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

fYear

2008

fDate

3-5 Dec. 2008

Firstpage

7

Lastpage

12

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ReConFig.2008.78

Filename

4731762