Model Predictive Control for Autonomous Navigation Using Embedded Graphics Processing Unit

被引：7

作者：

Phung, Duc-Kien ^{[1
]}

Herisse, Bruno ^{[1
]}

Marzat, Julien ^{[1
]}

Bertrand, Sylvain ^{[1
]}

机构：

[1] Off Natl Etud & Rech Aerosp, F-91123 Palaiseau, France

来源：

IFAC PAPERSONLINE | 2017年 / 50卷 / 01期

关键词：

Model Predictive Control; Graphics Processing Unit; Embedded Control; Mobile Robot; Autonomous Navigation;

D O I：

10.1016/j.ifacol.2017.08.1415

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The objective of this work is to implement a Model Predictive Control (MPC) algorithm on an embedded Graphics Processing Unit (GPU) card. A MPC model for the autonomous navigation of a ground mobile robot is proposed. GPU CUDA code implementation and CUDA optimization techniques are discussed for this specific problem. The GPU-accelerated application permits extending the prediction horizon and evaluating more future trajectories compared to usual time-constrained CPU implementations. Simulation results and a preliminary experiment are presented to demonstrate the efficiency of the real-time algorithm. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：11883 / 11888

页数：6

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