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2008
IEEE

Embedded Harmonic Control for Trajectory Planning in Large Environments

12 years 4 months ago
Embedded Harmonic Control for Trajectory Planning in Large Environments
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.
Cesar Torres-Huitzil, Bernard Girau, Amine M. Boum
Added 01 Jun 2010
Updated 01 Jun 2010
Type Conference
Year 2008
Where RECONFIG
Authors Cesar Torres-Huitzil, Bernard Girau, Amine M. Boumaza, Bruno Scherrer
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