Tutorial on Fast Marching Method - Robotics Algorithms & Motion ...
Tutorial on Fast Marching Method - Robotics Algorithms & Motion ...
Tutorial on Fast Marching Method - Robotics Algorithms & Motion ...
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C<strong>on</strong>clusi<strong>on</strong><br />
Recap of the talk<br />
• FM* algorithm: FM + heuristic<br />
• Directi<strong>on</strong>al c<strong>on</strong>strained TP: anisotropic FM<br />
• Curvature c<strong>on</strong>strained TP: isotropic and anisotropic media<br />
• Multiresoluti<strong>on</strong> TP: FM + adaptive mesh generati<strong>on</strong><br />
• Dynamic replanning: E* algorithm, comparative study, in-water trials<br />
• Visibility-based TP: E* based visibility map, heterogeneous envir<strong>on</strong>ments<br />
Main advantages of <strong>Fast</strong> <strong>Marching</strong> methods applied to trajectory planning<br />
• Accuracy, robustness reliability<br />
• Curvature c<strong>on</strong>straints underactuated AUV<br />
• Fields of force new domains of applicability<br />
• Simplicity easy integrati<strong>on</strong> <strong>on</strong> real systems<br />
DTSI LIST – DTSI – Service Robotique Interactive<br />
05/02/008<br />
34
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