PDE-Based Robust Robotic Navigation

Hassouna, M. Sabry; Abdel-Hakim, Alaa E.; Farag, Aly A.

doi:10.1109/crv.2005.59

Cited by 6 publications

(7 citation statements)

References 27 publications

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“…Let a monotonic wave front originated from a determined source point moves across a space, then the travel time T of 1 Those propositions give us a slightly different definition of our algorithm compared to the pursuit-evasion problems. In the pure pursuit-evasion problem, the target or evader always tries to escape from the robot or pursuer rather than make an independent action.…”

Section: B Geodesic Motion Model For Target and Robot Movementmentioning

confidence: 99%

“…This problem is known as Eikonal equation problem, and according to [1] eq. 9 can be approximated by first order finite difference scheme…”

Section: B Geodesic Motion Model For Target and Robot Movementmentioning

confidence: 99%

“…Computing the travel time by using Euclidean Distance (ED) is not a good option, because ED does not consider the shape of the environment. We prefer to use geodesic model by using the wave front approach of [1].…”

Section: B Geodesic Motion Model For Target and Robot Movementmentioning

confidence: 99%

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Visibility-based viewpoint planning for guard robot using skeletonization and geodesic motion model

Ardiyanto

Miura

2013

2013 IEEE International Conference on Robotics and Automation

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This paper describes a viewpoint planning algorithm for a guard robot in an indoor environment. The viewpoint planner is used for the guard robot to watch a certain object such as human continuously. Rather than continuously follows the object, moving the guard robot using the viewpoint planner has many benefits such as reducing the movement and the energy used by the robot. Our viewpoint planner exploits the topology feature of the environment, which is extracted using a skeletonization technique to get a set of viewpoints. We search for escaping gaps from which the target may go out of the robot's sight, and make the movement model of the target and the robot to determine the predicted time of the worst case escape of the target. We then plan the action for the robot based on the geodesic model and escaping gaps. Simulation results using 3D simulator are provided to show the effectiveness and feasibility of our algorithm.

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Section: B Geodesic Motion Model For Target and Robot Movementmentioning

confidence: 99%

“…This problem is known as Eikonal equation problem, and according to [1] eq. 9 can be approximated by first order finite difference scheme…”

Section: B Geodesic Motion Model For Target and Robot Movementmentioning

confidence: 99%

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Visibility-based viewpoint planning for guard robot using skeletonization and geodesic motion model

Ardiyanto

Miura

2013

2013 IEEE International Conference on Robotics and Automation

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“…In this paper, we extend our recent work [23] and present a general, robust, and fast robotic path planning framework using level set methods. The framework can be applied to both planar and terrain environments, in a whole configuration space or a portion of it.…”

Section: Introductionmentioning

confidence: 97%

PDE-based robust robotic navigation

Hassouna

Abdel-Hakim

Farag

2009

Image and Vision Computing

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“…Recently, Hassouna et al [13][14][15] have developed several algorithms for solving optimal path planning problems by the level set methods. The path can be very robust as it can be the shortest path, the safest path or the hybrid one.…”

Section: Level Set and Fast Marching Methods For Path Planningmentioning

confidence: 99%

Level set and Fat Fast Marching Method for normal and dynamic path planning of pursuit-evasion problem

Liu

2010

2010 IEEE International Conference on Automation and Logistics

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-This paper proposes a modified version of the Fast Marching Method (FMM), called Fat Fast Marching Method (FFMM), which produces a much more accurate path than the path generated by the original FMM with the approximated ODE solution. Given a complicated environment which has a long optimal path and a very large maximum cost value that results in high gradients, FFMM is faster than FMM. Furthermore, the tree structure result, a TP diagram of FFMM with path recovery rules, makes dynamic path planning of pursuit-evasion problems possible. By providing the shortest path produced by the path recovery rules in every time slot and the avoidance of re-planning in most situations, the pursuer now has a greater chance to intercept the evader in real time spectrum.

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PDE-Based Robust Robotic Navigation

Cited by 6 publications

References 27 publications

Visibility-based viewpoint planning for guard robot using skeletonization and geodesic motion model

Visibility-based viewpoint planning for guard robot using skeletonization and geodesic motion model

PDE-based robust robotic navigation

Level set and Fat Fast Marching Method for normal and dynamic path planning of pursuit-evasion problem

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