panos trahanias: autonomous robot navigation path planning
Post on 21-Dec-2015
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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
lk
yx
Panos Trahanias: Autonomous Robot Navigation
Value Iteration - Results
Panos Trahanias: Autonomous Robot Navigation
CONFIGURATION SPACE
Panos Trahanias: Autonomous Robot Navigation
Two-link Manipulator - Workspace
Panos Trahanias: Autonomous Robot Navigation
Two-link Manipulator – Configuration Space
Panos Trahanias: Autonomous Robot Navigation
Obstacles – Configuration Space
Panos Trahanias: Autonomous Robot Navigation
Obstacles – Configuration Space
Panos Trahanias: Autonomous Robot Navigation
Obstacles – Configuration Space
Panos Trahanias: Autonomous Robot Navigation
Obstacles – Configuration Space
Panos Trahanias: Autonomous Robot Navigation
Workspace – Configuration Space
Panos Trahanias: Autonomous Robot Navigation
Workspace – Configuration Space
Panos Trahanias: Autonomous Robot Navigation
Workspace – Configuration Space
Panos Trahanias: Autonomous Robot Navigation
Planar Parallel Mechanism
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
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