NDLI: PDE-based robust robotic navigation

Content Provider	IEEE Xplore Digital Library
Author	Hassouna, M.S. Abdel-Hakim, A.E. Farag, A.A.
Copyright Year	2005
Description	Author affiliation: Comput. Vision & Image Process. Lab., Louisville Univ., KY, USA (Hassouna, M.S.; Abdel-Hakim, A.E.; Farag, A.A.)
Abstract	In this paper, we propose a general, robust, and fast path planning framework for robotic navigation using level set methods. A medial point of the map is selected automatically to be a point source that transmits two wave fronts of different speeds. The first front propagates with a moderate speed to capture the map topology, while the second one propagates much faster at medial points such that the safest paths intersect the propagating fronts at those points of maximum positive curvature, which are identified by solving an ordinary differential equation (ODE). The motion of the front is governed by a nonlinear partial differential equation (PDE), which is efficiently solved using robust level set methods. The framework is general in the sense that it can be used for both 2D and 3D environments. It generates a collision-free optimum paths for partial or complete configuration space. Optimum planned paths can be controlled according to the surrounding environment and running conditions in order to follow the safest, shortest, or hybrid paths. We demonstrate the robustness of the proposed method by correctly extracting planned paths of complex maps with several obstacles.
Starting Page	176
Ending Page	183
File Size	1205054
Page Count	8
File Format	PDF
ISBN	0769523196
DOI	10.1109/CRV.2005.59
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-05-09
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer vision Navigation Level set Image processing Robot vision systems Laboratories Robustness Path planning Topology Orbital robotics
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

Robust robotic path planning using level sets

Path Finding From A Spot Image For A Mobile Robot

Sampling-based path planning for robust feature-based visual servoing

Sensor-based robot path planning using harmonic function-based probabilistic roadmaps

Omnidirectional vision-based mapping by free region sweeping

Hough-space-based object recognition tightly coupled with path planning for robust and fast bin-picking

Robot path planning for maze navigation

Path planning for robust image-based control

Toward robust vision-based control: hand/eye coordination without calibration

PDE-based robust robotic navigation

Similar Documents

Robust robotic path planning using level sets

Path Finding From A Spot Image For A Mobile Robot

Sampling-based path planning for robust feature-based visual servoing

Sensor-based robot path planning using harmonic function-based probabilistic roadmaps

Omnidirectional vision-based mapping by free region sweeping

Hough-space-based object recognition tightly coupled with path planning for robust and fast bin-picking

Robot path planning for maze navigation

Path planning for robust image-based control

Toward robust vision-based control: hand/eye coordination without calibration

PDE-based robust robotic navigation