NDLI: Parallelization of path planning algorithms for AUVs concepts, opportunities, and program-technical implementation

Content Provider	IEEE Xplore Digital Library
Author	Eichhorn, M. Woithe, H.C. Kremer, U.
Copyright Year	2012
Description	Author affiliation: Institute for Automation and Systems Engineering, Ilmenau University of Technology, 98684 Ilmenau, Germany (Eichhorn, M.) \|\| Department of Computer Science, Rutgers University Piscataway, New Jersey 08854 (Woithe, H.C.; Kremer, U.)
Abstract	Modern autonomous underwater vehicles (AUVs) have advanced sensing capabilities including sonar, cameras, acoustic communication, and diverse bio-sensors. Instead of just sensing its environment and storing the data for post-mission inspection, an AUV could use the collected information to gain an understanding of its environment, and based on this understanding autonomously adapt its behavior to enhance the overall effectiveness of its mission. Many such tasks are highly computation intensive. This paper presents the results of a case study that illustrates the effectiveness of an energy-aware, many-core computing architecture to perform on-board path planning within a battery-operated AUV. A previously published path planning algorithm was ported onto the SCC, an experimental 48 core single-chip system developed by Intel. The performance, power, and energy consumption of the application were measured for different numbers of cores and other system parameters. This case study shows that computation intensive tasks can be executed within an AUV that relies mainly on battery power. Future plans include the deployment and testing of an SCC system within a Teledyne Webb Research Slocum glider.
Starting Page	1
Ending Page	8
File Size	996652
Page Count	8
File Format	PDF
ISBN	9781457720895
e-ISBN	9781457720918
DOI	10.1109/OCEANS-Yeosu.2012.6263557
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-21
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Message passing Sea surface Vehicles Parallel processing Planning time varying environment Graph methods AUV Slocum Glider parallel programming Single-chip Cloud Computer Path Planning
Content Type	Text
Resource Type	Article

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