Publication Details

Janelle Blankenburg, Richard Kelley, David Feil-Seifer, Rui Wu, Lee Barford, and Fredrick C. Harris. "Towards GPU-Accelerated PRM for Autonomous Navigation." In International Conference on Information Technology : New Generations (ITNG), Las Vegas, NV, Apr 2020. doi: 10.1007/978-3-030-43020-7_74


  • Keywords:
  • path-planning
  • Socially-Aware Navigation (SAN)
  • GPU

Abstract

Sampling based planning is an important step for long-range navigation for an autonomous vehicle. This work proposes a GPU-accelerated sampling based path planning algorithm which can be used as a global planner in autonomous navigation tasks. A modified version of the generation portion for the Probabilistic Road Map (PRM) algorithm is presented which reorders some steps of the algorithm in order to allow for parallelization and thus can benefit highly from utilization of a GPU. The GPU and CPU algorithms were compared using a simulated navigation environment with graph generation tasks of several different sizes. It was found that the GPU-accelerated version of the PRM algorithm had significant speedup over the CPU version (up to 78x). This results provides promising motivation towards implementation of a real-time autonomous navigation system in the future.

Author Details

Name: Janelle Blankenburg
email: jjblankenburg@nevada.unr.edu
Website: jblankenburg.github.io
Status: Active

Name: Richard Kelley
email: rkelley@cse.unr.edu
Status: Inactive

Name: David Feil-Seifer
email: dave@cse.unr.edu
Website: http://cse.unr.edu/~dave
Phone: (775) 784-6469
Status: Active

Name: Rui Wu
Status: Inactive

Name: Lee Barford
Status: Inactive

Name: Fredrick Harris
Status: Inactive

BibTex Reference

@inproceedings{blankenburg2020towards,
  title={Towards GPU-Accelerated PRM for Autonomous Navigation},
  author={Janelle Blankenburg and Richard Kelley and David Feil-Seifer and Rui Wu and Lee Barford and Fredrick C. Harris},
  year={2020},
  month={April},
  address={Las Vegas, NV},
  doi={10.1007/978-3-030-43020-7_74},
  booktitle={International Conference on Information Technology : New Generations (ITNG)},
}

HTML Reference

<span class="authors">Janelle Blankenburg, Richard Kelley, David Feil-Seifer, Rui Wu, Lee Barford, and Fredrick C. Harris</span>. <span class="title">"Towards GPU-Accelerated PRM for Autonomous Navigation." </span> In <span class="booktitle">International Conference on Information Technology : New Generations (ITNG)</span>, <span class="address">Las Vegas, NV</span>, <span class="month">Apr</span> <span class="year">2020</span>. <span class="ending"></span> <span class="doi">doi: 10.1007/978-3-030-43020-7_74</span>

Support

CHS: Small: Socially-Aware Navigation, National Science Foundation PI: David Feil-Seifer, co-PI: Monica Nicolescu, Amount: $500,000, Sept. 1, 2017 - May 31, 2022