Embedded harmonic control for dynamic trajectory planning on FPGA

Authors:
Bernard Girau;Amine Boumaza
Affiliations:
Cortex team, LORIA INRIA-Lorraine, Nancy, France;Maia team, LORIA INRIA-Lorraine, Nancy, France
Venue:
AIAP'07 Proceedings of the 25th conference on Proceedings of the 25th IASTED International Multi-Conference: artificial intelligence and applications
Year:
2007

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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.