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A mobile robot navigation with use of CUDA parallel architecture

Barbara Siemiatkowska, Jacek Szklarski, Michal Gnatowski, Adam Borkowski, Piotr Weclewski
Warsaw University of Technology, Department of Mechatronics, Institute of Fundamental and Technological Research PAS,Warsaw, Poland
Journal of Automation Mobile Robotics and Intelligent Systems, Vol.5, No.3, p.79-84, 2011

@article{siemiatkowska2011amobile,

   title={AMobile ROBOT NAVIGATION WITH USE OF CUDA PARALLEL ARCHITECTURE},

   author={Siemi{k{a}}tkowska, B. and Szklarski, J. and Gnatowski, M. and Borkowski, A. and W{k{e}}clewski, P.},

   journal={Journal of Automation, Mobile Robotics & Intelligent Systems},

   volume={5},

   number={3},

   year={2011}

}

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In this article we present a navigation system of a mobile robot based on parallel calculations. It is assumed that the robot is equipped with a 3D laser range scanner. The system is essentially based on a dual grid-object, where labels are attached to detected objects (such maps can be used in navigation based on semantic information). We use a classical SMPA (Sense – Model – Plan – Act) architecture for navigation, however, some steps concerning object detection, planning and localization are parallelized in order to speed up the entire process. The CUDA (Compute Unified Device Architecture) technology allows us to execute our algorithms on many processing units with use of a inexpensive graphics card which makes it possible to apply the proposed navigation system in a real time.
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