Dynamic search on the GPU

Mubbasir Kapadia, Francisco Garcia, Cory D. Boatright, Norman I. Badler
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Path finding is a fundamental, yet computationally expensive problem in robotics navigation. Often times, it is necessary to sacrifice optimality to find a feasible plan given a time constraint due to the search complexity. Dynamic environments may further invalidate current computed plans, requiring an efficient planning strategy that can repair existing solutions. This paper presents a massively parallelizable wavefront-based approach to path planning, running on the GPU, that can efficiently
more » ... hat can efficiently repair plans to accommodate world changes and start movement, without having to restart the wavefront propagation process. In addition, we introduce a termination condition which ensures minimum number of GPU iterations while maintaining strict optimality constraints on search graphs with non-uniform costs.
doi:10.1109/iros.2013.6696830 dblp:conf/iros/KapadiaGBB13 fatcat:2vphidkd4rbyvnqnzesssvmz4y