文章基本信息

标题：Model Predictive Control for Autonomous Navigation Using Embedded Graphics Processing Unit
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作者：Duc-Kien Phung ; Bruno Hérissé ; Julien Marzat 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：11883-11888
DOI：10.1016/j.ifacol.2017.08.1415
语种：English
出版社：Elsevier
摘要：AbstractThe 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.
关键词：KeywordsModel Predictive ControlGraphics Processing UnitEmbedded ControlMobile RobotAutonomous Navigation