An Optimized FPGA Implementation for a Parallel Path Planning Algorithm Based on Marching Pixels
Schmidt M, Fey D (2010)
Publication Type: Conference contribution
Publication year: 2010
Publisher: IEEE Computer Society
Edited Volumes: Proceedings - 2010 International Conference on Reconfigurable Computing and FPGAs, ReConFig 2010
City/Town: IEEE, CS Digital Library
Pages Range: 442-447
Conference Proceedings Title: Proceedings of the 6th International Conference on Reconfigurable Computing and FPGAs
Event location: Cancun, Mexico
ISBN: 978-0-7695-4314-7
Abstract
Path Planning is one of the most computationally intensive tasks in robot systems and a challenge in dynamically changing environments. By means of FPGAs it is possible to process time-critical and data-intensive tasks in robot systems efficiently. We have developed a parallel path planning algorithm which is based on Marching Pixels, an organic computing principle. The algorithm is optimized for FPGA-based processing. A parallel implementation approach together with an efficient buffering of the map data allowed us to obtain a processing rate suitable for realtime applications, even for higher resolutions. We achieved a processing rate of 80 maps per second for VGA resolution (640×480) on a midsize Virtex-5 FPGA. © 2010 IEEE.
Authors with CRIS profile
Michael Schmidt
Lehrstuhl für Informatik 3 (Rechnerarchitektur)
Dietmar Fey
Lehrstuhl für Informatik 3 (Rechnerarchitektur)
How to cite
APA:
Schmidt, M., & Fey, D. (2010). An Optimized FPGA Implementation for a Parallel Path Planning Algorithm Based on Marching Pixels. In Proceedings of the 6th International Conference on Reconfigurable Computing and FPGAs (pp. 442-447). Cancun, Mexico, MX: IEEE, CS Digital Library: IEEE Computer Society.
MLA:
Schmidt, Michael, and Dietmar Fey. "An Optimized FPGA Implementation for a Parallel Path Planning Algorithm Based on Marching Pixels." Proceedings of the Conference on Reconfigurable Computing and FPGAs (ReConFig), Cancun, Mexico IEEE, CS Digital Library: IEEE Computer Society, 2010. 442-447.
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