NDLI: FPGA implementation of mixed integer quadratic programming solver for mobile robot control

Content Provider	IEEE Xplore Digital Library
Author	Shimai, Y. Tani, J. Noguchi, H. Kawaguchi, H. Yoshimoto, M.
Copyright Year	2009
Description	Author affiliation: Department of Computer Science and Systems Engineering, Kobe University, 657-8501 Japan (Shimai, Y.; Tani, J.; Noguchi, H.; Kawaguchi, H.; Yoshimoto, M.)
Abstract	We propose a high-speed mixed integer quadratic programming (MIQP) solver on an FPGA. The MIQP solver can be applied to various optimizing applications including real-time robot control. In order to rapidly solve the MIQP problem, we implement reusing a first solution (first point), pipeline architecture, and multi-core architecture on the single FPGA. By making use of them, we confirmed that 79.5% of the cycle times are reduced, compared with straightforward sequential processing. The operating frequency is 67 MHz, although a core 2 duo PC requires 3.16 GHz in processing the same size problem. The power consumption of the MIQP solver is 4.2 W.
Starting Page	447
Ending Page	450
File Size	375757
Page Count	4
File Format	PDF
ISBN	9781424443758
DOI	10.1109/FPT.2009.5377635
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-09
Publisher Place	Australia
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Field programmable gate arrays Quadratic programming Mobile robots Robot control Control systems NP-hard problem Artificial intelligence Linear matrix inequalities Symmetric matrices Robot programming
Content Type	Text
Resource Type	Article

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