GPU-based Real-Time Collision Detection for Motion Execution in Mobile Manipulation Planning

被引：0
|
作者：
Hermann, Andreas [1 ]
Klemm, Sebastian [1 ]
Xue, Zhixing [1 ]
Roennau, Arne [1 ]
Dillmann, Ruediger [1 ]
机构：
[1] Res Ctr Informat Technol FZI, Dept Intelligent Syst & Prod Engn ISPE IDS, D-76131 Karlsruhe, Germany
来源：
2013 16TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR) | 2013年
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D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper we present a parallel collision checking approach as an essential building block of a reactive online planning framework, that allows to continuously monitor the execution of planned trajectories against dynamic changes in the environment. The software is optimized for massively parallel hardware architectures, namely CUDA GPUs and offers constant runtime regardless of the occupancy density in the environment.
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页数：7
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