Parallel object motion prediction in a robotic navigational environment

Vijay S. Rajpurohit, M. M. Manohara Pai

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In a dynamic Robot navigation system , the Robot has to deal with multiple number of moving objects in the environment simultaneously. The control loop of Robot motion planning comprising of sense-plan-act cycle has very short duration . Predicting the next instance position (Short Term Prediction) and the trajectory (Long Term Prediction) of moving objects in a dynamic navigation system is a part of sense-plan-act cycle. With increase in the number of moving objects under observation, the performance of the prediction techniques reduce gradually. To overcome this drawback, in this paper we propose a parallel motion prediction algorithm to keep track of multiple number of moving objects within the Robotic navigational environment. The implementation of parallel algorithm is done on a cluster computing setup. Performance of the algorithm is tested for different test case scenarios with detailed analysis on efficiency and speedup.

Original languageEnglish
Title of host publicationParallel Computing Technologies - 10th International Conference, PaCT 2009, Proceedings
Pages435-444
Number of pages10
DOIs
Publication statusPublished - 04-11-2009
Event10th International Conference on Parallel Computing Technologies, PaCT 2009 - Novosibirsk, Russian Federation
Duration: 31-08-200904-09-2009

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume5698 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference10th International Conference on Parallel Computing Technologies, PaCT 2009
CountryRussian Federation
CityNovosibirsk
Period31-08-0904-09-09

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

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