A mobile robot navigation with use of CUDA parallel architecture

Barbara Siemiątkowska , Jacek Szklarski , Michał Gnatowski , Adam Borkowski , Piotr Węclewski

Abstract

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.
Author Barbara Siemiątkowska IAR
Barbara Siemiątkowska,,
- The Institute of Automatic Control and Robotics
, Jacek Szklarski
Jacek Szklarski,,
-
, Michał Gnatowski
Michał Gnatowski,,
-
, Adam Borkowski
Adam Borkowski,,
-
, Piotr Węclewski
Piotr Węclewski,,
-
Journal seriesJournal of Automation, Mobile Robotics and Intelligent Systems, ISSN 1897-8649
Issue year2011
Vol5
No3
Pages79-84
Keywords in Englishnavigation neural network parallel computing
Languageen angielski
Score (nominal)8
Citation count*2 (2014-12-28)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
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