GPU-based Collision Detection for Sampling-based Motion Planning

被引：0

作者：

Yoon, Jaeshik ^{[1
]}

Park, Jaehan ^{[2
]}

Baeg, Moonhong ^{[2
]}

机构：

[1] UST, Taejon, South Korea

[2] Korea Inst Ind Technol, Robot Convergence R&D Grp, Ansan, South Korea

来源：

2013 10TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2013年

关键词：

PRMs; Collision detection; Motion planning;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents GPU-based collision detection method that accelerates collision queries for sampling-based motion planning. This approach uses many-core GPUs. To take advantage of a many-core GPU, kinematic and collision detection is calculated by the GPU. The experimental results indicate that this approach can result in a ten-fold faster performance than when using a CPU.

引用

页码：215 / 218

页数：4

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