Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
A fast level set method for propagating interfaces
Journal of Computational Physics
An Behavior-based Robotics
Robot Motion Planning
A hybrid mobile robot architecture with integrated planning and control
Proceedings of the first international joint conference on Autonomous agents and multiagent systems: part 1
Linear Time Euclidean Distance Algorithms
IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
Autonomous Learning Architecture for Environmental Mapping
Journal of Intelligent and Robotic Systems
Short note: O(N) implementation of the fast marching algorithm
Journal of Computational Physics
Robot formation motion planning using Fast Marching
Robotics and Autonomous Systems
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The proposed algorithm integrates in a single planner the global motion planning and local obstacle avoidance capabilities. It efficiently guides the robot in a dynamic environment. This eliminates some of the traditional problems of planned architectures (model-plan-act scheme) while obtaining many of the qualities of behavior-based architectures. The computational efficiency of the method allows the planner to operate at high-rate sensor frequencies. This avoids the need for using both a collision-avoidance algorithm and a global motion planner for navigation in a cluttered environment. The method combines map-based and sensor-based planning operations to provide a smooth and reliable motion plan. Operating on a simple grid-based world model, the method uses a fast marching technique to determine a motion plan on a Voronoi extended transform extracted from the environment model. In addition to this real-time response ability, the method produces smooth and safe robot trajectories.