Download - PATH PLANNING
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Panos Trahanias: Autonomous Robot Navigation
PATH PLANNING
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Panos Trahanias: Autonomous Robot Navigation
Bug Algorithms
Bug1
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Panos Trahanias: Autonomous Robot Navigation
Bug Algorithms
Bug1
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Panos Trahanias: Autonomous Robot Navigation
Bug Algorithms
Bug2
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Panos Trahanias: Autonomous Robot Navigation
Bug Algorithms
Bug2
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Panos Trahanias: Autonomous Robot Navigation
Bug Algorithms
Bug2
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Panos Trahanias: Autonomous Robot Navigation
POTENTIAL FUNCTIONS
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Panos Trahanias: Autonomous Robot Navigation
Potential Field
Attractive – Repulsive
Forces
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Panos Trahanias: Autonomous Robot Navigation
Potential Field
Potential Function
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Panos Trahanias: Autonomous Robot Navigation
Potential Field
Attractive Potential
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Panos Trahanias: Autonomous Robot Navigation
Potential Field
Repulsive Potential
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Panos Trahanias: Autonomous Robot Navigation
Potential Field
BrushFire Algorithm
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Panos Trahanias: Autonomous Robot Navigation
Potential Field
Local Minima Problem
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Panos Trahanias: Autonomous Robot Navigation
Potential Field
Wavefront Planner
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Panos Trahanias: Autonomous Robot Navigation
Navigation Functions
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Panos Trahanias: Autonomous Robot Navigation
Navigation Functions
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Panos Trahanias: Autonomous Robot Navigation
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
22,
1,0,11,0,1
, Probmin lkocc(x,y)HH lykx
lk
yx
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Panos Trahanias: Autonomous Robot Navigation
Value Iteration - Results
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Panos Trahanias: Autonomous Robot Navigation
OBSTACLE AVOIDANCE
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Panos Trahanias: Autonomous Robot Navigation
Certainty Grid Representation
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Panos Trahanias: Autonomous Robot Navigation
VFF – Virtual Force Field
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Panos Trahanias: Autonomous Robot Navigation
VFF – Virtual Force Field
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Panos Trahanias: Autonomous Robot Navigation
Polar Histogram
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Panos Trahanias: Autonomous Robot Navigation
Polar Histogram
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Panos Trahanias: Autonomous Robot Navigation
Motion Candidate Directions
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Panos Trahanias: Autonomous Robot Navigation
Traveling Alongside an Obstacle
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Panos Trahanias: Autonomous Robot Navigation
Steering Reference
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Panos Trahanias: Autonomous Robot Navigation
VFH – Example Course