Title:
FPGA-BASED ACCELERATION USING OPENCL ON FCL IN ROBOT MOTION PLANNING
Document Type and Number:
WIPO Patent Application WO/2020/118547
Kind Code:
A1
Abstract:
Methods and apparatus relating to FPGA (Field-Programmable Gate Array) (104) based acceleration in robot motion planning are described. The apparatus comprising: logic circuitry (such as an FPGA), coupled to a processor (102), accelerates one or more motion planning operations for a plurality of objects a first memory (108), coupled to the logic circuitry, stores data corresponding to a plurality of Oriented Bounding Boxes (OBBs). The plurality of OBBs are to provide Bounding Volume (BV) models for the plurality of objects.
Inventors:
WANG DAWEI (CN)
LIU LING (CN)
SHI XUESONG (CN)
WANG CHUNJIE (CN)
YOU GANMEI (CN)
LIU LING (CN)
SHI XUESONG (CN)
WANG CHUNJIE (CN)
YOU GANMEI (CN)
Application Number:
PCT/CN2018/120496
Publication Date:
June 18, 2020
Filing Date:
December 12, 2018
Export Citation:
Assignee:
INTEL CORP (US)
WANG DAWEI (CN)
LIU LING (CN)
SHI XUESONG (CN)
WANG CHUNJIE (CN)
YOU GANMEI (CN)
WANG DAWEI (CN)
LIU LING (CN)
SHI XUESONG (CN)
WANG CHUNJIE (CN)
YOU GANMEI (CN)
International Classes:
B25J9/16
Foreign References:
| CN107206592A | 2017-09-26 | |||
| CN108213757A | 2018-06-29 |
Other References:
ATAY，NUZHET ET AL.: "A Motion Planning Processor on Reconfigurable Hardware", PROCEEDINGS OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, 15 May 2006 (2006-05-15), pages 125 - 132, XP010921262
BOSHI，ASHRAY A.: "Development of micro-UAV with integrated motion planning for open-cut mining surveillance", MICROPROCESSORS AND MICROSYSTEMS, vol. 39, no. 8, 11 August 2015 (2015-08-11), pages 829 - 835, XP029326498
INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS (IROS, 2017
ZHANG ZHAORUI ET AL.: "FPGA-Based High-Performance Collision Detection: An Enabling Technique for Image-Guided Robotic Surgery", FRONTIERS IN ROBOTICS AND AI, vol. 3, 31 August 2016 (2016-08-31)
LAUTERBACH C ET AL.: "COMPUTER", vol. 29, 7 June 2010, WILEY-BLACKWELL, article "gProximity: Hierarchical GPU-based Operations for Collision and Distance Queries", pages: 419 - 428
See also references of EP 3894144A4
BOSHI，ASHRAY A.: "Development of micro-UAV with integrated motion planning for open-cut mining surveillance", MICROPROCESSORS AND MICROSYSTEMS, vol. 39, no. 8, 11 August 2015 (2015-08-11), pages 829 - 835, XP029326498
INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS (IROS, 2017
ZHANG ZHAORUI ET AL.: "FPGA-Based High-Performance Collision Detection: An Enabling Technique for Image-Guided Robotic Surgery", FRONTIERS IN ROBOTICS AND AI, vol. 3, 31 August 2016 (2016-08-31)
LAUTERBACH C ET AL.: "COMPUTER", vol. 29, 7 June 2010, WILEY-BLACKWELL, article "gProximity: Hierarchical GPU-based Operations for Collision and Distance Queries", pages: 419 - 428
See also references of EP 3894144A4
Attorney, Agent or Firm:
SHANGHAI PATENT & TRADEMARK LAW OFFICE, LLC (CN)
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