A mobile robot navigation with use of CUDA parallel architecture

Siemiątkowska, B.; Szklarski, J.; Gnatowski, M.; Borkowski, A.; Węclewski, P.

Artykuł - szczegóły

Tytuł artykułu

A mobile robot navigation with use of CUDA parallel architecture

Autorzy

Siemiątkowska B. , Szklarski J. , Gnatowski M. , Borkowski A. , Węclewski P.

Treść / Zawartość

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Abstrakty

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.

Słowa kluczowe

navigation neural network parallel computing

Wydawca

Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP

Czasopismo

Journal of Automation Mobile Robotics and Intelligent Systems

Rocznik

2011

Tom

Vol. 5, No. 3

Strony

79--84

Opis fizyczny

Bibliogr. 14 poz., rys.

Twórcy

autor

Siemiątkowska B.

autor

Szklarski J.

autor

Gnatowski M.

autor

Borkowski A.

autor

Węclewski P.

Warsaw University of Technology, Department of Mechatronics, Institute of FundamentalTechnological Research PAS,Warsaw, Poland, bsiem@ippt.gov.pl

Bibliografia

[1] J. Nilsson, “Artificial Intelligence: A New Synthesis”, Machine Industry Press, 1999.
[2] G. Saridis. “Toward the realization of intelligent controls”, Proceedings of the IEEE . vol. 67, 1979, pp. 11151133.
[3] R.A.Brooks,“Arobustlayeredcontrolsystemforamobile robot”, IEEE Journal of Robotics and Automation, vol. 2 no. 11, 1986, pp. 14-23.
[4] R.A. Brooks. “New approaches to robotics”. Science, vol. 253, 1991, pp. 1227-1232.
[5] M.J. Mataric., “Integration of representation into goaldriven behavior-based robots”, IEEE Trans. on Robotics and Automation, 8(3), 1992, pp. 304-312.
[6] K.H. Low, W.K. Leow, and M.H. Ang, Jr., “A hybrid mobile robot architecture with integrated planning and control”. In: Proc. 1 st International Joint Conference on Autonomous Agents and MultiAgent Systems (AAMAS02), 2002, pp. 219–226.
[7] N.J. Nilsson. “Teleo-reactive programs for agent control”, Journal of Artificial Intelligence Research , vol. 1, 1994, pp. 139–158.
[8] S.H. Seyed, “Parallel processing and parallel algorithms: theory and computation ”, Springer, 2000.
[9] L. Chua, L. Young, “Cellular Neural Network ”, IEEE Transaction on Circuit System , 1990, pp. 500-505.
[10] Harris, Mark, “Optimizing Parallel Reduction in CUDA”, NVIDIA Developer Technology http://developer.download.nvidia.com
[11] Chojecki. R, Olszewski M., “A Mobile Robot for Laboratory Purposes and Its Applications ”, PAK , no. 3, 2009, 55, pp. 190-193.
[12] B. Siemi1tkowska, J. Szklarski, M. Gnatowski, A. Zychewicz, “Budowa hybrydowej semantycznorastrowej reprezentacji otoczenia robota mobilnego na podstawie wskazan dalmierza laserowego 3D , ” PAK , no. 3, 2010, pp. 278-282. (in Polish)
[13] M. Gnatowski, B. Siemi1tkowska, J. Szklarski, “Extraction of semantic information from 3D laser range Finder”, In: 18th Symposium on Robot Design, Dynamics, and Control, Springer, 2010, pp. 383-389.
[14] A. Borkowski, B. Siemi1tkowska, J. Szklarski, “Towards Semantic Navigation In Mobile Robotics ”. In: G. Engles, C. Lewerenz, W. Schafer, A. Schurr, B. Westfechtel (Eds.): Graph Transformations and Model Driven Engi-neering-Essays Dedicated to Manfred Nafle, LNCS 5765, Springer.

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Bibliografia

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