Development for SSV on a parallel processing system (PARAGON)

Benny M. Gothard; Mark Allmen; Michael J. Carroll; Dan Rich

doi:10.1117/12.228970

27 December 1995 Development for SSV on a parallel processing system (PARAGON)

Benny M. Gothard, Mark Allmen, Michael J. Carroll, Dan Rich

Proceedings Volume 2591, Mobile Robots X; (1995) https://doi.org/10.1117/12.228970
Event: Photonics East '95, 1995, Philadelphia, PA, United States

Abstract

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.

Citation Download Citation

Benny M. Gothard, Mark Allmen, Michael J. Carroll, and Dan Rich "Development for SSV on a parallel processing system (PARAGON)", Proc. SPIE 2591, Mobile Robots X, (27 December 1995); https://doi.org/10.1117/12.228970

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