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Optimizing a mobile robot control system using GPU acceleration
Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques
This paper describes our attempt to optimize a robot control program for the Intelligent Ground Vehicle Competition (IGVC) by running computationally intensive portions of the system on a commodity graphics processing unit (GPU). The IGVC Autonomous Challenge requires a control program that performs a number of different computationally intensive tasks ranging from computer vision to path planning. For the 2011 competition our Robot Operating System (ROS) based control system would not rundoi:10.1117/12.909231 fatcat:rsffzfp3fjef3ip5ovrplnz5su