A 1200×1200 8-Edges/Vertex FPGA-Based Motion-Planning Accelerator for Dual-Arm-Robot Manipulation Systems

Atsutake Kosuge, T. Oshima
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引用次数: 3

Abstract

An SoC-FPGA-based motion-planning accelerator operating on a graph with >10M edges is presented for the first time for dual-am-robot manipulation systems. The proposed modified A∗ algorithm with minimized memory access time, is further accelerated by extensive parallel computation and dynamic reconfigurations. The proposed accelerator has been verified by measurement result showing overall motion-planning time of 0.5 seconds, which is only 1/100 of the one by conventional algorithm on embedded CPU, while preserving accuracy.
基于1200×1200 8边/顶点fpga的双臂机器人操作系统运动规划加速器
首次提出了一种基于soc - fpga的运动规划加速器,该加速器可在大于10M边的图形上运行,适用于双模机器人操作系统。改进的A∗算法具有最小的内存访问时间,并通过大量并行计算和动态重构进一步加速。实验结果表明,该加速器整体运动规划时间为0.5秒,仅为传统算法在嵌入式CPU上运动规划时间的1/100,同时保持了精度。
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