Embedded harmonic control for trajectory planning in large environments

Cesar Torres-Huitzil 1 Bernard Girau 2 Amine Boumaza 3 Bruno Scherrer 3
1 Polytechnic University of Victoria
2 CORTEX - Neuromimetic intelligence
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
3 MAIA - Autonomous intelligent machine
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
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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Submitted on : Friday, November 7, 2008 - 3:05:31 PM
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Cesar Torres-Huitzil, Bernard Girau, Amine Boumaza, Bruno Scherrer. Embedded harmonic control for trajectory planning in large environments. International Conference on ReConFigurable Computing and FPGAs - ReConFig 08, Dec 2008, Cancun, Mexico. ⟨inria-00337628⟩

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