This paper presents the application of the Voronoi Fast Marching (V FM) method to the Control of Robot Formations. The V FM method uses the propagation of a wave (Fast Marching) operating on the world model to de- termine a motion plan over a viscosity map (similar to the refraction index in optics) extracted from the updated map model. The computational effciency 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 classiffed as a type of potential field, but it has no local minima, it is complete (it finds the solu- tion 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.


    Access

    Download


    Export, share and cite



    Title :

    Robot Formations Control Using Fast Marching



    Publication date :

    2011-09-01


    Remarks:

    AR/0000014650



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    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

    Free access

    Robot formation motion planning using Fast Marching

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

    Free access

    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

    Free access

    Robust Skeletonization using the Fast Marching Method

    Hassouna, M. S. / Farag, A. A. | British Library Conference Proceedings | 2005


    Robust skeletonization using the fast marching method

    Hassouna, M.S. / Farag, A.A. | IEEE | 2005