Designing Processors to Accelerate Robot Motion Planning
- Speaker: Prof Daniel Sorin (Duke University)
- Host: Steve Furber
- 7th February 2018 at 14:00 in Kilburn L.T 1.3
Abstract: We have developed a hardware accelerator for motion planning, a critical operation in robotics. I will present the microarchitecture of our accelerator and describe a prototype implementation on an FPGA. Experimental results show that, compared to the state of the art, the accelerator improves performance by three orders of magnitude and improves power consumption by more than one order of magnitude. These gains are achieved through careful hardware/software co-design. We have modified conventional motion planning algorithms to aggressively precompute collision data, and we have implemented a microarchitecture that leverages the parallelism present in the problem.