Fast Generation of Collision-Free Trajectories for Robot Swarms Using GPU Acceleration
As the capabilities of robots and their control systems improve, we see an increasing number of use cases where the simultaneous operation of robots within a space is advantageous. Although trajectories for individual robots can be computed quickly using the existing methods, when robots operate sim...
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doaj-361b093bc2a14eedb55608b32610db6b2021-03-29T22:51:31ZengIEEEIEEE Access2169-35362019-01-0176679669010.1109/ACCESS.2018.28895338587164Fast Generation of Collision-Free Trajectories for Robot Swarms Using GPU AccelerationMichael Hamer0https://orcid.org/0000-0003-4380-4714Lino Widmer1Raffaello D'andrea2Institute for Dynamic Systems and Control, ETH Zurich, Zurich, SwitzerlandInstitute for Dynamic Systems and Control, ETH Zurich, Zurich, SwitzerlandInstitute for Dynamic Systems and Control, ETH Zurich, Zurich, SwitzerlandAs the capabilities of robots and their control systems improve, we see an increasing number of use cases where the simultaneous operation of robots within a space is advantageous. Although trajectories for individual robots can be computed quickly using the existing methods, when robots operate simultaneously and in close proximity, the requirement for collision avoidance introduces a coupling between robot trajectories and makes the trajectory generation problem difficult to solve quickly. In this paper, we propose a parallelizable formulation of such problems and a method for solving them quickly on modern graphics processing units, using momentum-based gradient descent. We demonstrate the proposed framework in simulation using two case studies: a swarm of 200 quadcopters traversing a maze and a fleet of 100 bicycle robots changing their formation. In both the cases, our method requires just seconds to generate feasible, collision-free trajectories for the entire swarm.https://ieeexplore.ieee.org/document/8587164/Collision avoidancemotion planningrobot controltrajectory optimization |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Michael Hamer Lino Widmer Raffaello D'andrea |
spellingShingle |
Michael Hamer Lino Widmer Raffaello D'andrea Fast Generation of Collision-Free Trajectories for Robot Swarms Using GPU Acceleration IEEE Access Collision avoidance motion planning robot control trajectory optimization |
author_facet |
Michael Hamer Lino Widmer Raffaello D'andrea |
author_sort |
Michael Hamer |
title |
Fast Generation of Collision-Free Trajectories for Robot Swarms Using GPU Acceleration |
title_short |
Fast Generation of Collision-Free Trajectories for Robot Swarms Using GPU Acceleration |
title_full |
Fast Generation of Collision-Free Trajectories for Robot Swarms Using GPU Acceleration |
title_fullStr |
Fast Generation of Collision-Free Trajectories for Robot Swarms Using GPU Acceleration |
title_full_unstemmed |
Fast Generation of Collision-Free Trajectories for Robot Swarms Using GPU Acceleration |
title_sort |
fast generation of collision-free trajectories for robot swarms using gpu acceleration |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2019-01-01 |
description |
As the capabilities of robots and their control systems improve, we see an increasing number of use cases where the simultaneous operation of robots within a space is advantageous. Although trajectories for individual robots can be computed quickly using the existing methods, when robots operate simultaneously and in close proximity, the requirement for collision avoidance introduces a coupling between robot trajectories and makes the trajectory generation problem difficult to solve quickly. In this paper, we propose a parallelizable formulation of such problems and a method for solving them quickly on modern graphics processing units, using momentum-based gradient descent. We demonstrate the proposed framework in simulation using two case studies: a swarm of 200 quadcopters traversing a maze and a fleet of 100 bicycle robots changing their formation. In both the cases, our method requires just seconds to generate feasible, collision-free trajectories for the entire swarm. |
topic |
Collision avoidance motion planning robot control trajectory optimization |
url |
https://ieeexplore.ieee.org/document/8587164/ |
work_keys_str_mv |
AT michaelhamer fastgenerationofcollisionfreetrajectoriesforrobotswarmsusinggpuacceleration AT linowidmer fastgenerationofcollisionfreetrajectoriesforrobotswarmsusinggpuacceleration AT raffaellodandrea fastgenerationofcollisionfreetrajectoriesforrobotswarmsusinggpuacceleration |
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1724190642517573632 |