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PATH PLANNING

PATH PLANNING . Bug Algorithms. Bug1. Bug Algorithms. Bug1. Bug Algorithms. Bug2. Bug Algorithms. Bug2. Bug Algorithms. Bug2. POTENTIAL FUNCTIONS. Potential Field. Attractive – Repulsive Forces. Potential Field. Potential Function. Potential Field. Attractive Potential.

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PATH PLANNING

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  1. PATH PLANNING Panos Trahanias: Autonomous Robot Navigation

  2. Bug Algorithms Bug1 Panos Trahanias: Autonomous Robot Navigation

  3. Bug Algorithms Bug1 Panos Trahanias: Autonomous Robot Navigation

  4. Bug Algorithms Bug2 Panos Trahanias: Autonomous Robot Navigation

  5. Bug Algorithms Bug2 Panos Trahanias: Autonomous Robot Navigation

  6. Bug Algorithms Bug2 Panos Trahanias: Autonomous Robot Navigation

  7. POTENTIAL FUNCTIONS Panos Trahanias: Autonomous Robot Navigation

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

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

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

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

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

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

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

  15. Navigation Functions Panos Trahanias: Autonomous Robot Navigation

  16. Navigation Functions Panos Trahanias: Autonomous Robot Navigation

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

  35. 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. Steering Reference Panos Trahanias: Autonomous Robot Navigation

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

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