Design And Implementation Of Multi-core DSP Route Planning System Based On Route Segments

Route planning of Unmanned Aerial Vehicles(UAV) is one of the key technologies of mission planning system, which plays an important role in the modern national defense and many civil fields. The research of route planning includes hardware and software aspects. In the aspect of hardware, considering the characteristics and application requirements of route planning, a proper hardware should be selected to build the planning system; in the aspect of software, proper planning method and algorithm should be used according to the system architecture, in order to improve planning efficiency.The route planning system includes the command system on ground and embedded system on UAV, and route planning should be accomplished by the embedded system on UAV sometimes. Considering the demands of the embedded planning system on power consumption, volume, calculate ability and storage performance, the multi-core DSP TMS320C6678 is selected to build a real-time planning system. Firstly, the hardware performance of C6678 is introduced, then the design of memory management module, interprocessor communication module, multi-core boot load module and network communication module are expounded, and the overall design of the real-time route planning system based on C6678 is introduced and illustrated.In the aspect of planning method, the basic principle and several improvement strategy of ant colony algorithm are introduced, and the parallel implementation of ant colony algorithm on multi-core DSP is analyzed. An ant colony algorithm based on route segments recombination on C6678 is proposed, considering the theory of route planning method based on route segments. The parallel pheromone update strategy of ant colony algorithm on multi-core DSPs is expounded.At last, the parallel efficiency of the ant colony algorithm in the system is simulated and analyzed, the real time planning ability of the planning system is verified.