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Panos Trahanias: Autonomous Robot Navigation PATH PLANNING

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PATH PLANNING. Bug Algorithms. Bug1. Bug Algorithms. Bug1. Bug Algorithms. Bug2. Bug Algorithms. Bug2. Bug Algorithms. Bug2. POTENTIAL FUNCTIONS. Potential Field. Attractive – Repulsive Forces. Potential Field. Potential Function. Potential Field. Attractive Potential. - PowerPoint PPT Presentation

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Panos Trahanias: Autonomous Robot Navigation

PATH PLANNING

Panos Trahanias: Autonomous Robot Navigation

Bug Algorithms

Bug1

Panos Trahanias: Autonomous Robot Navigation

Bug Algorithms

Bug1

Panos Trahanias: Autonomous Robot Navigation

Bug Algorithms

Bug2

Panos Trahanias: Autonomous Robot Navigation

Bug Algorithms

Bug2

Panos Trahanias: Autonomous Robot Navigation

Bug Algorithms

Bug2

Panos Trahanias: Autonomous Robot Navigation

POTENTIAL FUNCTIONS

Panos Trahanias: Autonomous Robot Navigation

Potential Field

Attractive – Repulsive

Forces

Panos Trahanias: Autonomous Robot Navigation

Potential Field

Potential Function

Panos Trahanias: Autonomous Robot Navigation

Potential Field

Attractive Potential

Panos Trahanias: Autonomous Robot Navigation

Potential Field

Repulsive Potential

Panos Trahanias: Autonomous Robot Navigation

Potential Field

BrushFire Algorithm

Panos Trahanias: Autonomous Robot Navigation

Potential Field

Local Minima Problem

Panos Trahanias: Autonomous Robot Navigation

Potential Field

Wavefront Planner

Panos Trahanias: Autonomous Robot Navigation

Navigation Functions

Panos Trahanias: Autonomous Robot Navigation

Navigation Functions

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

Panos Trahanias: Autonomous Robot Navigation

Value Iteration - Results

Panos Trahanias: Autonomous Robot Navigation

OBSTACLE AVOIDANCE

Panos Trahanias: Autonomous Robot Navigation

Certainty Grid Representation

Panos Trahanias: Autonomous Robot Navigation

VFF – Virtual Force Field

Panos Trahanias: Autonomous Robot Navigation

VFF – Virtual Force Field

Panos Trahanias: Autonomous Robot Navigation

Polar Histogram

Panos Trahanias: Autonomous Robot Navigation

Polar Histogram

Panos Trahanias: Autonomous Robot Navigation

Motion Candidate Directions

Panos Trahanias: Autonomous Robot Navigation

Traveling Alongside an Obstacle

Panos Trahanias: Autonomous Robot Navigation

Steering Reference

Panos Trahanias: Autonomous Robot Navigation

VFH – Example Course

EXERCISES – Path planning

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