Corpus ID: 81981768

Path Planning in Dynamic Environments Using Time-Warped Grids and a Parallel Implementation

@article{Farzan2019PathPI,
  title={Path Planning in Dynamic Environments Using Time-Warped Grids and a Parallel Implementation},
  author={Siavash Farzan and Guilherme N. DeSouza},
  journal={ArXiv},
  year={2019},
  volume={abs/1903.07441}
}
This paper proposes a solution to the problem of smooth path planning for mobile robots in dynamic and unknown environments. A novel concept of Time-Warped Grid is introduced to predict the pose of obstacles in the environment and avoid collisions. The algorithm is implemented using C/C++ and the CUDA programming environment, and combines stochastic estimation (Kalman filter), harmonic potential fields and a rubber band model, and it translates naturally into the parallel paradigm of GPU… Expand
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