High-dimensional planning on the GPU

摘要

Optimal heuristic searches such as A* search are commonly used for low-dimensional planning such as 2D path finding. These algorithms however, typically do not scale well to high-dimensional planning problems such as motion planning for robotic arms, computing motion trajectories for non-holonomic robotic vehicles and motion synthesis for humanoid characters. A recently developed randomized version of A* search, called R* search, scales to higher-dimensional planning problems by trading off deterministic optimality guarantees of A* for probabilistic sub-optimality guarantees. In this paper, we show that in addition to its scalability, R* lends itself well to a parallel implementation. In particular, we demonstrate how R* can be implemented on the GPU. On the theoretical side, the GPU version of R*, called R*GPU, preserves all the theoretical properties of R* including its probabilistic bounds on sub-optimality. On the experimental side, we show that R*GPU consistently produces lower cost solutions, scales better in terms of memory, and runs faster than R*. These results hold for both motion planning for a 6DOF robot arm planar as well as 2D path finding.