This paper presents the application of the Voronoi Fast Marching (VFM) method to path planning of mobile formation robots. The VFM method uses the propagation of a wave (Fast Marching) operating on the world model to determine a motion plan over a viscosity map (similar to the refraction index in optics) extracted from the updated map model. The computational efficiency of the method allows the planner to operate at high rate sensor frequencies. This method allows us to maintain good response time and smooth and safe planned trajectories. The navigation function can be classified as a type of potential field, but it has no local minima, it is complete (it finds the solution path if it exists) and it has a complexity of order n(O(n)), where n is the number of cells in the environment map. The results presented in this paper show how the proposed method behaves with mobile robot formations and generates trajectories of good quality without problems of local minima when the formation encounters non-convex obstacles. ; This work has been supported by the CAM Project S2009/DPI-1559/ROBOCITY2030 II, developed by the research team RoboticsLab at the University Carlos III of Madrid. ; Publicado


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Robot formation motion planning using Fast Marching



    Erscheinungsdatum :

    2011-09-01


    Anmerkungen:

    AR/0000009316



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Robot Formations Control Using Fast Marching

    Garrido Bullón, Luis Santiago / Moreno Lorente, Luis Enrique / Lima, Pedro U. | BASE | 2011

    Freier Zugriff

    Planning robot formations with fast marching square including uncertainty conditions

    Gómez González, Javier Victorio / Lumbier Álvarez, Alejandro / Garrido Bullón, Luis Santiago et al. | BASE | 2013

    Freier Zugriff

    Path Planning for Mobile Robot Navigation using Voronoi Diagram and Fast Marching

    Garrido Bullón, Luis Santiago / Moreno Lorente, Luis Enrique / Blanco Rojas, María Dolores et al. | BASE | 2011

    Freier Zugriff

    Application of the fast marching method for outdoor motion planning in robotics

    Garrido Bullón, Luis Santiago / Malfaz Vázquez, María Ángeles / Blanco Rojas, María Dolores | BASE | 2013

    Freier Zugriff

    Fast Marching-based globally stable motion learning

    Gómez González, Javier Victorio / Álvarez Sánchez, David / Garrido Bullón, Luis Santiago et al. | BASE | 2017

    Freier Zugriff