This thesis introduces a GPU-accelerated algorithm for path planning under kinodynamic constraints, focusing on navigation of flying vehicles within a high-resolution cost map. The algorithm operates by creating dynamically feasible initial paths, and a non-reversible parallel tempering Markov chain Monte Carlo scheme to optimize the paths while adhering to the nonholonomic kinodynamical constraints. The algorithm efficiently generates high quality dynamically feasible paths. An analysis demonstrates the algorithm's robustness, stability and scalability. The approach used for this algorithm is versatile, allowing for straightforward adaptation to different dynamic conditions and cost maps. The algorithm's applicability also extends to various path planning problems, signifying the potential advantages of GPU-accelerated algorithms in the domain of path planning.


    Access

    Download


    Export, share and cite



    Title :

    GPU-Based Path Optimization Algorithm in High-Resolution Cost Map with Kinodynamic Constraints : Using Non-Reversible Parallel Tempering


    Contributors:

    Publication date :

    2023-01-01


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    006 / 629



    Kinodynamic Motion Planning Using Multi-Objective optimization

    Hart, Patrick / Knoll, Alois | IEEE | 2018


    Randomized kinodynamic planning for cable-suspended parallel robots

    Bordalba, Ricard / Porta, Josep M. / Ros, Lluís | BASE | 2018

    Free access

    Randomized kinodynamic planning for cable-suspended parallel robots

    Bordalba Llaberia, Ricard / Porta Pleite, Josep Maria / Ros Giralt, Lluís | BASE | 2017

    Free access

    Predictive joint trajectory scaling for manipulators with kinodynamic constraints

    Faroni, Marco / Guarino Lo Bianco, Corrado / Beschi, Manuel et al. | BASE | 2019

    Free access

    Multi-step motion planning for climbing robots with kinodynamic constraints

    Fuller, Matthias / Prassler, Erwin / Forsman, Pekka | IEEE | 2013