Route Segments Planning System Based On Multi-DSPs

Route planning technology plays a more and more important role in the field of modern national defense applications and artificial intelligence. Traditional route planning methods include the following three: the method based on the cell decomposition, the method based on the roadmap, artificial potential field, etc. Route planning based on route segments is a new method compared with the proposed route planning. The new method can be divided into two processes mainly: the route segments generation and the route segments reconstruction. On the one hand,with this new method, the efficiency of the route planning can be highly improved because the route segments library generated offline can be used as a searching net map. On the other hand, the process of generating route segments between different input points and output points on every subspace is very time-consuming.Based on route segments planning coprocessor of our lab before, a multi-DSPs route segments planning system is designed and implemented to improve the efficiency of route planning by algorithm transplantation and parallel processing.In this paper, the author expounds the background of our task and analyzes the research situation domestic and foreign firstly. Then, analyzes route segments planning method, especially researches route segments planning algorithm and resource occupancy. On this basis, designed and implemented the software system of multi-DSPs route segments planning on the "3DSP + FPGA" struct. Using TI chip support library to complete the hardware resources test, including EDMA3, GPIO, McBSP, Timer, etc; Achieved communications and control among DSPs and between DSP and HOST with interrupt mechanism; Amended the route segment planning system on the HOST and explanted route segment generated algorithm to the TMS320C6455 DSP processor of multi-DSPs route segments planning system.At last, there are some experiments and conclusions about the system.