NDLI: FM2: A real-time fast marching sensor-based motion planner

Content Provider	IEEE Xplore Digital Library
Author	Garrido, S. Moreno, L. Blanco, D. Martin, F.
Copyright Year	2007
Description	Author affiliation: Carlos III Univ. of Madrid, Madrid (Garrido, S.; Moreno, L.; Blanco, D.; Martin, F.)
Abstract	Path planning for autonomous robots is an essential capacity for these systems. One class of path planning algorithms use potential fields. However, some problems associated with these algorithms include (1) Trapping due to local minima, (2) No passage between closely spaced obstacles, and (3) Limit cycles. This paper presents a potential-field-based algorithm that does not exhibit the mentioned problems. The algorithm uses a two- part approach. The first part of the approach generates a "velocity map" of the environment that represents the admissible velocity at discrete cells in the workspace. This velocity map of the environment gives a grey scale that is darker near the obstacles and walls (black means zero speed) and more clear far from them (white means a predefined maximum robot speed). This velocity map imitates the repulsive electric potential from walls and obstacles, but with a limited maximum value. In the second step, the application of the Fast Marching method on the velocity map, represents and gives a potential map of the wave propagation with time as last axis. The propagation of this wave uses the previous velocity map. In this potential surface it is calculated the shortest time trajectory, by using the gradient method. The second part of the approach uses concepts of wave propagation to construct a smooth, safe, and time efficient path in the velocity map. This method is very fast, and can be used on line.
Starting Page	1
Ending Page	6
File Size	4147402
Page Count	6
File Format	PDF
ISBN	9781424412631
DOI	10.1109/AIM.2007.4412505
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-09-04
Publisher Place	Switzerland
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Orbital robotics Path planning Electromagnetic scattering Robot sensing systems Navigation Optical refraction Limit-cycles Optical propagation Electromagnetic refraction mobile manipulators Sensor-based path planner fast marching mobile robots
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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