Computing 2d robot workspace in parallel with CUDA

Authors:
Paul Kilgo;Brandon Dixon;Monica Anderson
Affiliations:
Department of Computer Science, The University of Alabama, Tuscaloosa, AL;Department of Computer Science, The University of Alabama, Tuscaloosa, AL;Department of Computer Science, The University of Alabama, Tuscaloosa, AL
Venue:
SIMPAR'12 Proceedings of the Third international conference on Simulation, Modeling, and Programming for Autonomous Robots
Year:
2012

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Abstract

Workspace analysis is one of the most essential problems in robotics, but also has the possibility of being very tricky in complex cases. As the number of degrees of freedom increases, the complexity of the problem grows exponentially in some solutions. One possibility is to develop solutions which approximate the workspace for speedup, but this paper explores the possibility of using graphical processing units to parallelize and speed up a forward kinematics-based solution. Particular real-time applications are discussed. It presents a formal analysis of a simple 2D problem, a solution, and the results of an experiment using the solution.