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

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Towards Fast Marching algorithm… 4-connexity Breadth-First 8-connexity Breadth-First DTSI LIST – DTSI – Service Robotique Interactive 4-connexity Fast Marching (Sethian, 1996) 05/02/008 6
A* versus FM* 100 90 80 70 60 50 40 30 20 10 10 20 30 40 50 60 70 80 90 100 A* = Breadth-First + heuristic FM* = Fast Marching + heuristic 4-connexity A* (Nilsson, 1968) 4-connexity FM* DTSI LIST – DTSI – Service Robotique Interactive 100 90 80 70 60 50 40 30 20 10 10 20 30 40 50 60 70 80 90 100 On a grid with N points: FM complexity = A* complexity = O(N.log(N)): • Maximum cost of sorting the queue: log(N) • Maximum number of iterations: N 05/02/008 7
Page 1 and 2: Tutorial on Fast M
Page 3 and 4: Costs Introduction: a short story
Page 5: Some demos (priority queue) … DTS
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 and 24: Operations: Multiresolution FM base
Page 25 and 26: T a i i Multiresolution FM based tr
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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