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%.File | Dimensione | Formato | |
---|---|---|---|
2903150.2911712.pdf
Accesso riservato
Tipologia:
VOR - Versione pubblicata dall'editore
Dimensione
803.24 kB
Formato
Adobe PDF
|
803.24 kB | Adobe PDF | Visualizza/Apri Richiedi una copia |
An+Energy-Efficient+Parallel+Algorithm+for+Real-Time_Fulltext.pdf
Open access
Tipologia:
AAM - Versione dell'autore revisionata e accettata per la pubblicazione
Dimensione
1.05 MB
Formato
Adobe PDF
|
1.05 MB | Adobe PDF | Visualizza/Apri |
Pubblicazioni consigliate
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris