【泡泡一分钟】FPGA上基于实时采样的优化，用于嵌入式机器人系统中的网格地图的合并

作者：Heoncheol Lee and Seung-Hwan Lee

来源：2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

编译：张宁

审核：黄思宇，孙钦

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摘要

本文解决了嵌入式机器人系统中网格地图合并的实时优化问题。当应用诸如粒子群优化（PSO）之类的基于采样的优化来解决该问题时，应对其进行加速以满足嵌入式机器人系统的实时要求。本文提出了一种在现场可编程门阵列（FPGA）上进行的PSO的新变体，并且可以通过基于FPGA上硬件资源的并行计算块来减少计算时间。所提出的方法是用可综合的硬件描述语言实现的，并通过FPGA开发工具通过布局后仿真进行了评估。

图1.所提出方法的FPGA结构。

Abstract 

This paper addresses the real-time optimization problem of grid map merging in embedded robotics systems. When sampling-based optimization such as particle swarm optimization (PSO) is applied to solve the problem, it should be accelerated to satisfy the real-time requirements of embedded robotic systems. This paper proposes a new variant of the PSO conducted on a field-programmable gate array (FPGA) and can reduce computation times by paralleling the computation blocks based on hardware resources on a FPGA. The proposed method was implemented with synthesizable hardware description languages and evaluated by post-layout simulations through FPGA development tools.