Estimation of Time-to-Contact for Navigation of Autonomous Robots Using Parallel Processing

被引：0

作者：

Sanchez Garcia, Angel Juan ^{[1
]}

Rios Figueroa, Homero Vladimir ^{[1
]}

Hoyos Rivera, Guillermo de Jesus ^{[1
]}

Marin Hernandez, Antonio ^{[1
]}

机构：

[1] Univ Veracruz, Res Ctr Artificial Intelligence, Xalapa, Veracruz, Mexico

来源：

PROCEEDINGS 2016 INTERNATIONAL CONFERENCE ON MECHATRONICS, ELECTRONICS, AND AUTOMOTIVE ENGINEERING, (ICMEAE 2016) | 2016年

关键词：

Parallel Computing; Time-to-Contact; Segmentation; Tau-margin; CUDA; GPU;

D O I：

10.1109/ICMEAE.2016.13

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：

Given the trend of more complex tasks that robots should perform, we need to design increasingly robust solutions to perform tasks more efficiently and above all, real-time calculations. One of the most important tasks of a mobile robot is navigating through a room avoiding obstacles with which it may collide. Our contribution is to show how to compute efficiently time-to-contact for avoiding collisions in robotic navigation, using Graphics Processor Unit (GPU) and Compute Unified Device Architecture (CUDA). Description of the problem in different size of images and the complexity analysis of sequential and parallel ways are described. Finally, experimental results with synthetic and real images are shown.

引用

页码：26 / 31

页数：6

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