Panos Trahanias: Autonomous Robot Navigation PATH PLANNING.

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Presentation transcript:

Panos Trahanias: Autonomous Robot Navigation PATH PLANNING

Panos Trahanias: Autonomous Robot Navigation Bug Algorithms Bug1

Panos Trahanias: Autonomous Robot Navigation Bug Algorithms Bug1

Panos Trahanias: Autonomous Robot Navigation Bug Algorithms Bug2

Panos Trahanias: Autonomous Robot Navigation Bug Algorithms Bug2

Panos Trahanias: Autonomous Robot Navigation Bug Algorithms Bug2

Panos Trahanias: Autonomous Robot Navigation POTENTIAL FUNCTIONS

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

Panos Trahanias: Autonomous Robot Navigation Potential Field Potential Function

Panos Trahanias: Autonomous Robot Navigation Potential Field Attractive Potential

Panos Trahanias: Autonomous Robot Navigation Potential Field Repulsive Potential

Panos Trahanias: Autonomous Robot Navigation Potential Field BrushFire Algorithm

Panos Trahanias: Autonomous Robot Navigation Potential Field Local Minima Problem

Panos Trahanias: Autonomous Robot Navigation Potential Field Wavefront Planner

Panos Trahanias: Autonomous Robot Navigation Navigation Functions

Panos Trahanias: Autonomous Robot Navigation Navigation Functions

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 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 Polar Histogram

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 Steering Reference

Panos Trahanias: Autonomous Robot Navigation VFH – Example Course

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