Mathematical morphology and binary geodesy for robot navigation planning

Authors:
F. Ortiz;S. Puente;F. Torres
Affiliations:
Automatics, Robotics and Computer Vision Group, Dept. Physics, Systems Engineering and Signal Theory, University of Alicante, Alicante, Spain;Automatics, Robotics and Computer Vision Group, Dept. Physics, Systems Engineering and Signal Theory, University of Alicante, Alicante, Spain;Automatics, Robotics and Computer Vision Group, Dept. Physics, Systems Engineering and Signal Theory, University of Alicante, Alicante, Spain
Venue:
ICAPR'05 Proceedings of the Third international conference on Advances in Pattern Recognition - Volume Part I
Year:
2005

Citing 6
Cited 0

Real-time robot motion planning using rasterizing computer graphics hardware

SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
Integration of Topological and Metric Maps for Indoor Mobile Robot Path Planning and Navigation

SETN '02 Proceedings of the Second Hellenic Conference on AI: Methods and Applications of Artificial Intelligence
Collision Avoidance and Path Finding through Constrained Distance Tranceformation in Robot State Space

Intelligent Autonomous Systems, An International Conference
Morphological Image Analysis: Principles and Applications

Morphological Image Analysis: Principles and Applications
Image Analysis and Mathematical Morphology

Image Analysis and Mathematical Morphology
A fast path planning by path graph optimization

IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans

Quantified Score

Hi-index	0.00

Visualization

Abstract

A new method for obtaining the optimal path to robot navigation in 2-D environments is presented in this paper. To obtain the optimal path we use mathematical morphology in binary worlds and the geodesic distance. The navigation algorithm is based on the search for a path of minimum cost by using the wave-front of the geodesic distance of the mathematical morphology. The optimal path will be the one that minimize the direction changes of the robot. The algorithm of optimal path will be applied in several and complex 2-D environments.