Sökning: "Abhiraj Bishnoi"

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  1. 1. GPU-Assisted Collision Avoidance for Trajectory Optimization : Parallelization of Lookup Table Computations for Robotic Motion Planners Based on Optimal Control

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Abhiraj Bishnoi; [2021]
    Nyckelord :Motion Planning; Robotics; Trajectory Optimization; GPGPU; Parallel Programming;

    Sammanfattning : One of the biggest challenges associated with optimization based methods forrobotic motion planning is their extreme sensitivity to a good initial guess,especially in the presence of local minima in the cost function landscape.Additional challenges may also arise due to operational constraints, robotcontrollers sometimes have very little time to plan a trajectory to perform adesired function. LÄS MER