path planning

Panos Trahanias: Autonomous Robot Navigation

PATH PLANNING

Bug Algorithms

POTENTIAL FUNCTIONS

Potential Field

Attractive – Repulsive

Forces

Potential Field

Potential Function

Potential Field

Attractive Potential

Potential Field

Repulsive Potential

Potential Field

BrushFire Algorithm

Potential Field

Local Minima Problem

Potential Field

Wavefront Planner

Navigation Functions

Value Iteration

Value Iteration Algorithm Dynamic programming (fast) Creates potential field (run only once per

target) Initialization rule

Update rule

otherwize ,

point target the tocorreponds cell if ,0,

(x,y)H yx

1,0,11,0,1

, Probmin lkocc(x,y)HH lykx

Value Iteration - Results

OBSTACLE AVOIDANCE

Certainty Grid Representation

VFF – Virtual Force Field

Polar Histogram

Motion Candidate Directions

Traveling Alongside an Obstacle

Steering Reference

VFH – Example Course

path planning

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