Real time collision detection and avoidance. A case study for design space exploration in HW-SW codesign

In this paper we study a collision detection algorithm and partition it into hardware and software parts to enhance the performance of the system and achieve the real time goal (25 frames/sec). We explore the design space to identify various feasible implementations on software, hardware, firmware a...

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Bibliographic Details
Main Authors: Lodha, S.K., Gupta, S., Balakrishnan, M., Banerjee, S.
Format: Conference Proceeding
Language:English
Subjects:
Computer aided software engineering
Field programmable gate arrays
Hardware
Image motion analysis
Machine vision
Microprogramming
Partitioning algorithms
Real time systems
Software algorithms
Space exploration
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Description
Summary:In this paper we study a collision detection algorithm and partition it into hardware and software parts to enhance the performance of the system and achieve the real time goal (25 frames/sec). We explore the design space to identify various feasible implementations on software, hardware, firmware and mixed platforms. The platforms considered are the Intel's processors and Sun ULTRA1 for software, Motorola DSP56002 for firmware XILINX FPGAs for hardware. The mixed implementations include combinations of the above. A number of implementations discussed establish that factors such as time constraint, pin count and interface requirements strongly influence the design options.
ISSN:1063-9667
2380-6923
DOI:10.1109/ICVD.1998.646585