PATH PLANNING - PowerPoint PPT Presentation

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PATH PLANNING

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Panos Trahanias: Autonomous Robot Navigation. PATH PLANNING. Panos Trahanias: ... VFF Virtual Force Field. Panos Trahanias: Autonomous Robot Navigation ... – PowerPoint PPT presentation

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Title: PATH PLANNING


1
  • PATH PLANNING

2
Bug Algorithms
Bug1
3
Bug Algorithms
Bug1
4
Bug Algorithms
Bug2
5
Bug Algorithms
Bug2
6
Bug Algorithms
Bug2
7
  • POTENTIAL FUNCTIONS

8
Potential Field
Attractive Repulsive Forces
9
Potential Field
Potential Function
10
Potential Field
Attractive Potential
11
Potential Field
Repulsive Potential
12
Potential Field
BrushFire Algorithm
13
Potential Field
Local Minima Problem
14
Potential Field
Wavefront Planner
15
Navigation Functions
16
Navigation Functions
17
Value Iteration
  • Value Iteration Algorithm
  • Dynamic programming (fast)
  • Creates potential field (run only once per
    target)
  • Initialization rule
  • Update rule

18
Value Iteration - Results
19
  • OBSTACLE AVOIDANCE

20
Certainty Grid Representation
21
VFF Virtual Force Field
22
VFF Virtual Force Field
23
Polar Histogram
24
Polar Histogram
25
Motion Candidate Directions
26
Traveling Alongside an Obstacle
27
Steering Reference
28
VFH Example Course
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