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Embedded harmonic control for trajectory planning in large environments
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.
Cited literature [9 references]
https://hal.inria.fr/inria-00337628
Contributor : Bruno Scherrer Connect in order to contact the contributor
Submitted on : Friday, November 7, 2008 - 3:05:31 PM
Last modification on : Friday, February 26, 2021 - 3:28:04 PM
Long-term archiving on: : Monday, June 7, 2010 - 7:33:19 PM
Contributor : Bruno Scherrer Connect in order to contact the contributor
Submitted on : Friday, November 7, 2008 - 3:05:31 PM
Last modification on : Friday, February 26, 2021 - 3:28:04 PM
Long-term archiving on: : Monday, June 7, 2010 - 7:33:19 PM
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