Development of GPU-accelerated localization system for autonomous mobile robot; Mechanical Engineering, Automation and Control Systems (MEACS)

Development of GPU-accelerated localization system for autonomous mobile robot; Mechanical Engineering, Automation and Control Systems (MEACS)

Detalhes bibliográficos
Parent link:Mechanical Engineering, Automation and Control Systems (MEACS).— 2014.— [4 p.]
Autor principal: Rud M. N.
Outros Autores: Pantiykchin A. R.
Resumo:Title screen
We present a localization system for autonomous mobile robot, that operates in conditions of well - known environment. In our work we use particle - based Monte - Carlo localization. This algorithm has many applications in mobile robotics, but it is computationally expensive. Due to high level of parallelism in this algorithm, we had an opportunity to accelerate its execution on graphical processing unit (GPU) using CUDA - parallel computing architecture from NVIDIA Corporation. We use Microsoft Kinect sensor and robot odometry to perform indoor localization. Developed system was tested on three-wheeled mobile robot. NVIDIA Jetson TK1 board performed all necessary computations.
Режим доступа: по договору с организацией-держателем ресурса
Idioma:inglês
Publicado em: 2014
Assuntos:
электронный ресурс
труды учёных ТПУ
mobile robot
Monte-Carlo localization
GPU acceleration
CUDA
Kinect
NVIDIA Jetson TKl
мобильные роботы
локализация
робототехника
графические процессоры
параллельные вычисления
Acesso em linha:http://dx.doi.org/10.1109/MEACS.2014.6986850
Formato: Recurso Eletrônico Capítulo de Livro
KOHA link:https://koha.lib.tpu.ru/cgi-bin/koha/opac-detail.pl?biblionumber=638968

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