Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Gross motion planning—a survey
ACM Computing Surveys (CSUR)
A fast level set method for propagating interfaces
Journal of Computational Physics
Introduction to AI Robotics
PDE-Based Robust Robotic Navigation
CRV '05 Proceedings of the 2nd Canadian conference on Computer and Robot Vision
Robust Centerline Extraction Framework Using Level Sets
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Real-time navigation using randomized kinodynamic planning with arrival time field
Robotics and Autonomous Systems
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In robotic navigation, path planning is aimed at getting the optimum collision-free path between a starting and target locations. The optimality criterion depends on the surrounding environment and the running conditions. In this paper, we propose a general, robust, and fast path planning framework for robotic navigation using level set methods. A level set speed function is proposed such that the minimum cost path between the starting and target locations in the environment, is the optimum planned path. The speed function is controlled by one parameter, which takes one of three possible values to generate either the safest, the shortest, or the hybrid planned path. The hybrid path is much safer than the shortest path, but less shorter than the safest one. The main idea of the proposed technique is to propagate a monotonic wave front with a particular speed function from a starting location until the target is reached and then extracts the optimum planned path between them by solving an ordinary differential equation (ODE) using an efficient numerical scheme. The framework supports both local and global planning for both 2D and 3D environments. The robustness of the proposed framework is demonstrated by correctly extracting planned paths of complex maps.