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Route Segments Planning System Based on Multi-DSPs

Author: ZhangYuan
Tutor: ZhouChengPing
School: Huazhong University of Science and Technology
Course: Pattern Recognition and Intelligent Systems
Keywords: DSP Track fragments planning EDMA PCI
CLC: TP368.1
Type: Master's thesis
Year: 2011
Downloads: 20
Quote: 0
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Route Planning Technology has played a pivotal role in the modern defense applications , and the field of artificial intelligence . The traditional route planning method based on cell decomposition planning , planning and artificial potential field method based on the roadmap . Based the track fragments planning method is proposed on the basis of the traditional methods , mainly divided into the track fragments generate and track fragments to reconstruct the two phases . Track fragments generated off the search path and improve the efficiency of Route Planning . However , track fragments generated multiple scales generate any entrances track fragment will spend a lot of computing time . Designed and implemented laboratory Track fragment coprocessor system based on multi-DSP - based the track fragments planning system , track fragments generated algorithm optimization , give full play to the advantages of multi-processor parallel processing , ultimately achieve the purpose of track fragments generated efficiency . This paper describes the of the track fragments planning system based on multi-DSP research background and significance , the analysis of the current situation of domestic and international route planning method and multi-DSP system , then , the track fragments planning , focus on track The fragment generation algorithm and its resources occupancy . On this basis , \The complete hardware resources tests, including EDMA3, GPIO, McBSP, Timer using TI Chip Support Library (CSL) ; combined interrupt implementation mechanism between the DSP and the data communication between the DSP and the host computer and state control ; pairs of epistatic the machine Track fragments planning system to make changes, Track fragment the generation algorithm transplant TMS320C6455 DSP processor the track fragments planning system . Finally, the results of experimental validation data communication module communication performance and track clips planning system planning and analysis conclusions.

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