27 December 1995 Development for SSV on a parallel processing system (PARAGON)
Author Affiliations +
Proceedings Volume 2591, Mobile Robots X; (1995) https://doi.org/10.1117/12.228970
Event: Photonics East '95, 1995, Philadelphia, PA, United States
A goal of the surrogate semi-autonomous vehicle (SSV) program is to have multiple vehicles navigate autonomously and cooperatively with other vehicles. This paper describes the process and tools used in porting UGV/SSV (unmanned ground vehicle) autonomous mobility and target recognition algorithms from a SISD (single instruction single data) processor architecture (i.e., a Sun SPARC workstation running C/UNIX) to a MIMD (multiple instruction multiple data) parallel processor architecture (i.e., PARAGON-a parallel set of i860 processors running C/UNIX). It discusses the gains in performance and the pitfalls of such a venture. It also examines the merits of this processor architecture (based on this conceptual prototyping effort) and programming paradigm to meet the final SSV demonstration requirements.
© (1995) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Benny M. Gothard, Benny M. Gothard, Mark Allmen, Mark Allmen, Michael J. Carroll, Michael J. Carroll, Dan Rich, Dan Rich, "Development for SSV on a parallel processing system (PARAGON)", Proc. SPIE 2591, Mobile Robots X, (27 December 1995); doi: 10.1117/12.228970; https://doi.org/10.1117/12.228970


Back to Top