panos trahanias: autonomous robot navigation path planning

Panos Trahanias: Autonomous Robot Navigation PATH PLANNING

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Panos Trahanias: Autonomous Robot Navigation

PATH PLANNING

Panos Trahanias: Autonomous Robot Navigation

Bug Algorithms

Bug1

Panos Trahanias: Autonomous Robot Navigation

Bug Algorithms

Bug1

Panos Trahanias: Autonomous Robot Navigation

Bug Algorithms

Bug2

Panos Trahanias: Autonomous Robot Navigation

Bug Algorithms

Bug2

Panos Trahanias: Autonomous Robot Navigation

Bug Algorithms

Bug2

Panos Trahanias: Autonomous Robot Navigation

POTENTIAL FUNCTIONS

Panos Trahanias: Autonomous Robot Navigation

Potential Field

Attractive – Repulsive

Forces

Panos Trahanias: Autonomous Robot Navigation

Potential Field

Potential Function

Panos Trahanias: Autonomous Robot Navigation

Potential Field

Attractive Potential

Panos Trahanias: Autonomous Robot Navigation

Potential Field

Repulsive Potential

Panos Trahanias: Autonomous Robot Navigation

Potential Field

BrushFire Algorithm

Panos Trahanias: Autonomous Robot Navigation

Potential Field

Local Minima Problem

Panos Trahanias: Autonomous Robot Navigation

Potential Field

Wavefront Planner

Panos Trahanias: Autonomous Robot Navigation

Navigation Functions

Panos Trahanias: Autonomous Robot Navigation

Navigation Functions

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

otherwize ,

point target the tocorreponds cell if ,0,

(x,y)H yx

22,

1,0,11,0,1

, Probmin lkocc(x,y)HH lykx

Panos Trahanias: Autonomous Robot Navigation

Value Iteration - Results

Panos Trahanias: Autonomous Robot Navigation

CONFIGURATION SPACE

Panos Trahanias: Autonomous Robot Navigation

Two-link Manipulator - Workspace

Panos Trahanias: Autonomous Robot Navigation

Two-link Manipulator – Configuration Space

Panos Trahanias: Autonomous Robot Navigation

Obstacles – Configuration Space

Panos Trahanias: Autonomous Robot Navigation

Obstacles – Configuration Space

Panos Trahanias: Autonomous Robot Navigation

Obstacles – Configuration Space

Panos Trahanias: Autonomous Robot Navigation

Obstacles – Configuration Space

Panos Trahanias: Autonomous Robot Navigation

Workspace – Configuration Space

Panos Trahanias: Autonomous Robot Navigation

Workspace – Configuration Space

Panos Trahanias: Autonomous Robot Navigation

Workspace – Configuration Space

Panos Trahanias: Autonomous Robot Navigation

Planar Parallel Mechanism

Panos Trahanias: Autonomous Robot Navigation

OBSTACLE AVOIDANCE

Panos Trahanias: Autonomous Robot Navigation

Certainty Grid Representation

Panos Trahanias: Autonomous Robot Navigation

VFF – Virtual Force Field

Panos Trahanias: Autonomous Robot Navigation

VFF – Virtual Force Field

Panos Trahanias: Autonomous Robot Navigation

Polar Histogram

Panos Trahanias: Autonomous Robot Navigation

Polar Histogram

Panos Trahanias: Autonomous Robot Navigation

Motion Candidate Directions

Panos Trahanias: Autonomous Robot Navigation

Traveling Alongside an Obstacle

Panos Trahanias: Autonomous Robot Navigation

Steering Reference

Panos Trahanias: Autonomous Robot Navigation

VFH – Example Course

Autonomous Navigation and Mapping Using

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COLREG compliance for autonomous navigation systems

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Autonomous Robot Navigation - Hellas · 2006 ONASSIS LECTURE SERIES in COMPUTER SCIENCE Localization and Mapping Techniques for Mobile Robots. July 2006 Panos Trahanias - Onassis

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Autonomous Guidance Navigation and Control

Imaging Sonar-Aided Navigation for Autonomous Underwater ...people.csail.mit.edu/kaess/pub/Johannsson10iros.pdf · Imaging Sonar-Aided Navigation for Autonomous Underwater Harbor

3D perception and autonomous navigation

Autonomous Navigation of Generic Monocular …robotics.iiit.ac.in/uploads/Main/Publications/Bipin_etal_ICRA_15.pdf · Autonomous Navigation of Generic Monocular Quadcopter ... is

Autonomous Intelligent Navigation For Mobile Robots In Closed …refbase.cidis.espol.edu.ec/files/stevensilva/2020/134... · 2020. 12. 22. · Autonomous Intelligent Navigation For

Autonomous Navigation for Mobile Service Robots in … · Autonomous Navigation for Mobile Service Robots in ... Videos illustrating the navigation framework during the experimental

Autonomous Navigation in Libration Point Orbits

Perceptual Navigation for Semi-Autonomous …cobweb.cs.uga.edu/~potter/robotics/05_Potter_first.pdfPerceptual Navigation for Semi-Autonomous Wheelchair Operations ... MIT Artificial

ARDRONE Autonomous Navigation

Autonomous Spacecraft Navigation With Pulsars

Cloud Based Autonomous Vehicle Navigation

Autonomous optical navigation using nanosatellite-class

High-speed Autonomous Quadrotor Research Navigation

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Autonomous Navigation and Collision Avoidance Robot

Localization and perception for autonomous navigation ...bonnif/talks/ADT_slides_Ph_Bonnifait.pdf · - Use of automotive type sensors for autonomous navigation - Robotic approach:

Bio-inspired Navigation of Autonomous Robots in ...zool33.uni-graz.at/artlife/sites/default/files/Bio-inspired Navigation... · Bio-inspired Navigation of Autonomous Robots in Heterogenous

Alternatives for Autonomous Navigation of Small … · Alternatives for Autonomous Navigation of ... 5. th. Interplanetary CubeSat Workshop, Oxford, ... Alternatives for Autonomous

panos trahanias: autonomous robot navigation path planning

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