We propose a shortest trajectory planning algorithm imple-mentation for Unmanned Aerial Vehicles (UAVs) on an em-bedded GPU. Our goal is the development of a fast, energy-efficient global planner for multi-rotor UAVs supporting hu-man operator during rescue missions. The work is based on OpenCL parallel non-deterministic version of the Dijkstra algorithm to solve the Single Source Shortest Path (SSSP). Our planner is suitable for real-Time path re-computation in dynamically varying environments of up to 200 m2. Results demonstrate the effcacy of the ap-proach, showing speedups of up to 74x, saving up to 98% of energy versus the sequential benchmark, while reaching near-optimal path selection, keeping the average path cost error smaller than 1.2%.

An energy-efficient parallel algorithm for real-time near-optimal UAV path planning / Palossi, D; Furci, M; Naldi, R; Marongiu, A; Marconi, L; Benini, L. - STAMPA. - (2016), pp. 392-397. ((Intervento presentato al convegno ACM International Conference on Computing Frontiers, CF 2016 tenutosi a Como, IT nel 2016 [10.1145/2903150.2911712].

An energy-efficient parallel algorithm for real-time near-optimal UAV path planning

MARONGIU A;
2016

Abstract

We propose a shortest trajectory planning algorithm imple-mentation for Unmanned Aerial Vehicles (UAVs) on an em-bedded GPU. Our goal is the development of a fast, energy-efficient global planner for multi-rotor UAVs supporting hu-man operator during rescue missions. The work is based on OpenCL parallel non-deterministic version of the Dijkstra algorithm to solve the Single Source Shortest Path (SSSP). Our planner is suitable for real-Time path re-computation in dynamically varying environments of up to 200 m2. Results demonstrate the effcacy of the ap-proach, showing speedups of up to 74x, saving up to 98% of energy versus the sequential benchmark, while reaching near-optimal path selection, keeping the average path cost error smaller than 1.2%.
ACM International Conference on Computing Frontiers, CF 2016
Como, IT
2016
392
397
Palossi, D; Furci, M; Naldi, R; Marongiu, A; Marconi, L; Benini, L
An energy-efficient parallel algorithm for real-time near-optimal UAV path planning / Palossi, D; Furci, M; Naldi, R; Marongiu, A; Marconi, L; Benini, L. - STAMPA. - (2016), pp. 392-397. ((Intervento presentato al convegno ACM International Conference on Computing Frontiers, CF 2016 tenutosi a Como, IT nel 2016 [10.1145/2903150.2911712].
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11380/1171856
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