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

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

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

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

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

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

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

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

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

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

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

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

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

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

15. Panos Trahanias: Autonomous Robot Navigation
Navigation Functions
Panos Trahanias: Autonomous Robot Navigation

16. Panos Trahanias: Autonomous Robot Navigation
Navigation Functions
Panos Trahanias: Autonomous Robot Navigation

17. 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

18. Value Iteration - Results
Panos Trahanias: Autonomous Robot Navigation

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

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

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

22. Obstacles – Configuration Space
Panos Trahanias: Autonomous Robot Navigation

23. Obstacles – Configuration Space
Panos Trahanias: Autonomous Robot Navigation

24. Obstacles – Configuration Space
Panos Trahanias: Autonomous Robot Navigation

25. Obstacles – Configuration Space
Panos Trahanias: Autonomous Robot Navigation

26. Workspace – Configuration Space
Panos Trahanias: Autonomous Robot Navigation

27. Workspace – Configuration Space
Panos Trahanias: Autonomous Robot Navigation

28. Workspace – Configuration Space
Panos Trahanias: Autonomous Robot Navigation

29. Planar Parallel Mechanism
Panos Trahanias: Autonomous Robot Navigation

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

31. Certainty Grid Representation
Panos Trahanias: Autonomous Robot Navigation

32. VFF – Virtual Force Field
Panos Trahanias: Autonomous Robot Navigation

33. VFF – Virtual Force Field
Panos Trahanias: Autonomous Robot Navigation

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

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

36. Motion Candidate Directions
Panos Trahanias: Autonomous Robot Navigation

37. Traveling Alongside an Obstacle
Panos Trahanias: Autonomous Robot Navigation

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

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