RACOD

摘要

RACOD is an algorithm/hardware co-design for mobile robot path planning. It consists of two main components: CODAcc, a hardware accelerator for collision detection; and RASExp, an algorithm extension for runahead path exploration. CODAcc uses a novel MapReduce-style hardware computational model and massively parallelizes individual collision checks. RASExp predicts future path explorations and proactively computes its collision status ahead of time, thereby overlapping multiple collision detections. By affording multiple cheap CODAcc accelerators and overlapping collision detections using RASExp, RACOD significantly accelerates planning for mobile robots operating in arbitrary environments. Evaluations of popular benchmarks show up to 41.4× (self-driving cars) and 34.3× (pilotless drones) speedup with less than 0.3% area overhead.