Vector-accelerated sampling-based motion planning

By leveraging vector-oriented operations and SIMD instructions, the method dramatically accelerates sampling-based motion planning, overcoming the limitations of existing algorithms and achieving rapid, high-quality path planning.

WO2025058722A1PCT designated stage expired Publication Date: 2025-03-20WILLIAM MARCH RICE UNIVERSITY
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Patent Information

Application Number
PCT/US2024/039830
Authority / Receiving Office
WO · WO
Patent Type
Applications
Current Assignee / Owner
Priority Date
2023-09-14
Filing Date
2024-07-26
Publication Date
2025-03-20

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Abstract

A method accelerates sampling-based motion planning (SBMP) algorithms. The method includes decomposing SBMP into primitive operations; selecting primitive operations that allow vectorized operation; interleaving the selected primitive operations; implementing forward kinematics (FK); implementing vectorized collision checking (CC); and implementing vectorized motion validation. The vectorized operation transforms all values in vectors independently in parallel.
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Citation Information

Patent Citations

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  • Method and device for deterministic sampling-based motion planning

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