high performance computing on graphics processing units: hgpu.org

Modern GPUs are powerful parallel computing devices. In this report, a quick look at the GPU architecture and programming is provided. Collision detection algorithms are briefly surveyed to provide a good overall picture of the field before examining two GPU based collision detection methods in more detail. The fist method is a parallel implementation of collision checking used in probabilistic roadmap(PRM) path planning algorithm. The second method is a semi-brute-force approach to broad phase collision detection on the GPU.