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Panos Trahanias: Autonomous Robot Navigation PATH PLANNING.

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Presentation on theme: "Panos Trahanias: Autonomous Robot Navigation PATH PLANNING."— Presentation transcript:

1 Panos Trahanias: Autonomous Robot Navigation PATH PLANNING

2 Panos Trahanias: Autonomous Robot Navigation Bug Algorithms Bug1

3 Panos Trahanias: Autonomous Robot Navigation Bug Algorithms Bug1

4 Panos Trahanias: Autonomous Robot Navigation Bug Algorithms Bug2

5 Panos Trahanias: Autonomous Robot Navigation Bug Algorithms Bug2

6 Panos Trahanias: Autonomous Robot Navigation Bug Algorithms Bug2

7 Panos Trahanias: Autonomous Robot Navigation POTENTIAL FUNCTIONS

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

9 Panos Trahanias: Autonomous Robot Navigation Potential Field Potential Function

10 Panos Trahanias: Autonomous Robot Navigation Potential Field Attractive Potential

11 Panos Trahanias: Autonomous Robot Navigation Potential Field Repulsive Potential

12 Panos Trahanias: Autonomous Robot Navigation Potential Field BrushFire Algorithm

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

14 Panos Trahanias: Autonomous Robot Navigation Potential Field Wavefront Planner

15 Panos Trahanias: Autonomous Robot Navigation Navigation Functions

16 Panos Trahanias: Autonomous Robot Navigation Navigation Functions

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

18 Panos Trahanias: Autonomous Robot Navigation Value Iteration - Results

19 Panos Trahanias: Autonomous Robot Navigation OBSTACLE AVOIDANCE

20 Panos Trahanias: Autonomous Robot Navigation Certainty Grid Representation

21 Panos Trahanias: Autonomous Robot Navigation VFF – Virtual Force Field

22 Panos Trahanias: Autonomous Robot Navigation VFF – Virtual Force Field

23 Panos Trahanias: Autonomous Robot Navigation Polar Histogram

24 Panos Trahanias: Autonomous Robot Navigation Polar Histogram

25 Panos Trahanias: Autonomous Robot Navigation Motion Candidate Directions

26 Panos Trahanias: Autonomous Robot Navigation Traveling Alongside an Obstacle

27 Panos Trahanias: Autonomous Robot Navigation Steering Reference

28 Panos Trahanias: Autonomous Robot Navigation VFH – Example Course

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