Análise e construção de aceleradores em hardware para o cálculo do menor caminho em planejamento de rotas de robôs
type: CreativeWork
description: This work proposes an analisys and optimization for the calculation of the shortest path in route planning for mobile robots. The suggested solution aims to present a high-performance alternative that can meet the time constraints necessary for robots processing . To do so, we propose an architecture focused on parallelism to be embedded in dedicated hardware. Through the exploitation of parallelism, the solution aims to present, in addition to a performance improvement, a dynamic adaptation to changes in the graph of possible movements to be analyzed, since edges could be inserted or deleted in a temporally random manner as the environment changes. This work demonstrates the architecture developed together with its results. This application graph updating process efficiently updates obstacle matrices, resulting in a remarkable 120-fold improvement for 1024-node graphs. When utilizing a cost-effective device like the Cyclone IV E, it achieves approximately 20 times the performance of an equivalent software applications.
abstract: This work proposes an analisys and optimization for the calculation of the shortest path in route planning for mobile robots. The suggested solution aims to present a high-performance alternative that can meet the time constraints necessary for robots processing . To do so, we propose an architecture focused on parallelism to be embedded in dedicated hardware. Through the exploitation of parallelism, the solution aims to present, in addition to a performance improvement, a dynamic adaptation to changes in the graph of possible movements to be analyzed, since edges could be inserted or deleted in a temporally random manner as the environment changes. This work demonstrates the architecture developed together with its results. This application graph updating process efficiently updates obstacle matrices, resulting in a remarkable 120-fold improvement for 1024-node graphs. When utilizing a cost-effective device like the Cyclone IV E, it achieves approximately 20 times the performance of an equivalent software applications.
author: Esteves, Linton Thiago Costa
language: por
keywords: Dijkstra, Robôtica, Robôs móveis, Estudo de rotas, Simulação (Computadores), Circuitos integrados, Integrated circuits
date published: 2024-10-30
date modified: 2026-07-27T22:08:03Z
provider: Brazil UFBA
publisher: Networked Digital Library of Theses and Dissertations
type: WebPage
source organization: UNIVERSIDADE FEDERAL DA BAHIA