Tutorial on Fast Marching Method - Robotics Algorithms & Motion ...

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Operations: Multiresolution FM based trajectory planning 1) 1000x1000 grid of pixels 2) Quadtree decomposition 3) Mesh of 1400 vertices 4) FM on the mesh DTSI LIST – DTSI – Service Robotique Interactive 05/02/008 24
T a i i Multiresolution FM based trajectory planning: upwind scheme Notations: x xi x x 1 x x i i Cartesian grid 2 2 2 u u u u τ A Unstructured mesh T 2 T T 2 a Qau 2a Qbu b Qb τ T , T , , T 1 T Q T T T 1 1 2 a n ... a a a 2 b i n DTSI LIST – DTSI – Service Robotique Interactive B (Sethian and Vladimirsky, 2000) ui x x i 1 2 b n ... b b x A x 5 b u minu , u , u x 4 x x B x x 1 1 x 2 2 j j x 3 3 i i 05/02/008 25
Page 1 and 2: Tutorial on Fast M
Page 3 and 4: Costs Introduction: a short story
Page 5 and 6: Some demos (priority queue) … DTS
Page 7 and 8: A* versus FM* 100 90 80 70 60 50 40
Page 9 and 10: Non-convex obstacles: dilatation +
Page 11 and 12: Application: 3D trajectory planning
Page 13 and 14: j Anisotropic Fast Marching: theory
Page 15 and 16: Anisotropic Fast Marching: simulati
Page 17 and 18: Presentation overview I. Introducti
Page 19 and 20: Trajectory planning under curvature
Page 21 and 22: Lower bounds on the curvature radiu
Page 23: Operations: Multiresolution FM base
Page 27 and 28: Presentation overview I. Introducti
Page 29 and 30: Dynamic replanning: video of trials
Page 31 and 32: Trajectory planning under visibilit
Page 33 and 34: Trajectory planning under visibilit
Page 35 and 36: References on chapter 1 • E. W. D
Page 37 and 38: References on chapter 3 • L. D. C
Page 39 and 40: References on chapter 5 • R. Phil
Page 41: Main sources • C. Pêtrès, Y. Pa

Tutorial on Fast Marching Method - Robotics Algorithms & Motion ...

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