Panos Trahanias: Autonomous Robot Navigation

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Presentation transcript:

Panos Trahanias: Autonomous Robot Navigation PATH PLANNING Panos Trahanias: Autonomous Robot Navigation

Panos Trahanias: Autonomous Robot Navigation Bug Algorithms Bug1 Panos Trahanias: Autonomous Robot Navigation

Panos Trahanias: Autonomous Robot Navigation Bug Algorithms Bug1 Panos Trahanias: Autonomous Robot Navigation

Panos Trahanias: Autonomous Robot Navigation Bug Algorithms Bug2 Panos Trahanias: Autonomous Robot Navigation

Panos Trahanias: Autonomous Robot Navigation Bug Algorithms Bug2 Panos Trahanias: Autonomous Robot Navigation

Panos Trahanias: Autonomous Robot Navigation Bug Algorithms Bug2 Panos Trahanias: Autonomous Robot Navigation

Panos Trahanias: Autonomous Robot Navigation POTENTIAL FUNCTIONS Panos Trahanias: Autonomous Robot Navigation

Attractive – Repulsive Forces Potential Field Attractive – Repulsive Forces Panos Trahanias: Autonomous Robot Navigation

Panos Trahanias: Autonomous Robot Navigation Potential Field Potential Function Panos Trahanias: Autonomous Robot Navigation

Panos Trahanias: Autonomous Robot Navigation Potential Field Attractive Potential Panos Trahanias: Autonomous Robot Navigation

Panos Trahanias: Autonomous Robot Navigation Potential Field Repulsive Potential Panos Trahanias: Autonomous Robot Navigation

Panos Trahanias: Autonomous Robot Navigation Potential Field BrushFire Algorithm Panos Trahanias: Autonomous Robot Navigation

Panos Trahanias: Autonomous Robot Navigation Potential Field Local Minima Problem Panos Trahanias: Autonomous Robot Navigation

Panos Trahanias: Autonomous Robot Navigation Potential Field Wavefront Planner Panos Trahanias: Autonomous Robot Navigation

Panos Trahanias: Autonomous Robot Navigation Navigation Functions Panos Trahanias: Autonomous Robot Navigation

Panos Trahanias: Autonomous Robot Navigation Navigation Functions Panos Trahanias: Autonomous Robot Navigation

Panos Trahanias: Autonomous Robot Navigation Value Iteration Value Iteration Algorithm Dynamic programming (fast) Creates potential field (run only once per target) Initialization rule Update rule Panos Trahanias: Autonomous Robot Navigation

Value Iteration - Results Panos Trahanias: Autonomous Robot Navigation

Panos Trahanias: Autonomous Robot Navigation CONFIGURATION SPACE Panos Trahanias: Autonomous Robot Navigation

Two-link Manipulator - Workspace Panos Trahanias: Autonomous Robot Navigation

Two-link Manipulator – Configuration Space Panos Trahanias: Autonomous Robot Navigation

Obstacles – Configuration Space Panos Trahanias: Autonomous Robot Navigation

Obstacles – Configuration Space Panos Trahanias: Autonomous Robot Navigation

Obstacles – Configuration Space Panos Trahanias: Autonomous Robot Navigation

Obstacles – Configuration Space Panos Trahanias: Autonomous Robot Navigation

Workspace – Configuration Space Panos Trahanias: Autonomous Robot Navigation

Workspace – Configuration Space Panos Trahanias: Autonomous Robot Navigation

Workspace – Configuration Space Panos Trahanias: Autonomous Robot Navigation

Planar Parallel Mechanism Panos Trahanias: Autonomous Robot Navigation

Panos Trahanias: Autonomous Robot Navigation OBSTACLE AVOIDANCE Panos Trahanias: Autonomous Robot Navigation

Certainty Grid Representation Panos Trahanias: Autonomous Robot Navigation

VFF – Virtual Force Field Panos Trahanias: Autonomous Robot Navigation

VFF – Virtual Force Field Panos Trahanias: Autonomous Robot Navigation

Panos Trahanias: Autonomous Robot Navigation Polar Histogram Panos Trahanias: Autonomous Robot Navigation

Panos Trahanias: Autonomous Robot Navigation Polar Histogram Panos Trahanias: Autonomous Robot Navigation

Motion Candidate Directions Panos Trahanias: Autonomous Robot Navigation

Traveling Alongside an Obstacle Panos Trahanias: Autonomous Robot Navigation

Panos Trahanias: Autonomous Robot Navigation Steering Reference Panos Trahanias: Autonomous Robot Navigation

Panos Trahanias: Autonomous Robot Navigation VFH – Example Course Panos Trahanias: Autonomous Robot Navigation

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