Exploration of a cluttered environment using Voronoi Transform and Fast Marching

Robotics and Autonomous Systems

Volumn 56, Issue 12, 2008, Pages 1069-1081

  Garrido, S ^a   Moreno, L ^a   Blanco, D ^a  

^a UNIVERSIDAD CARLOS III DE MADRID   (Spain)

Author keywords

Environment exploration; Fast marching; Mapping of the unknown environment; Navigation

Indexed keywords

ALGEBRA; ATMOSPHERIC ELECTRICITY; COLLISION AVOIDANCE; ELECTRIC CURRENTS; ELECTRIC POTENTIAL; INTERNATIONAL TRADE; NAVIGATION; ROBOTICS; SENSORS; TRAJECTORIES;

CLUTTERED ENVIRONMENTS; DYNAMIC ENVIRONMENTS; ENVIRONMENT EXPLORATION; FAST MARCHING; FAST MARCHING METHODS; GREY SCALES; HIGH RATES; POTENTIAL MAPS; ROBOT NAVIGATIONS; UNKNOWN ENVIRONMENTS; VORONOI;

NAVIGATION CHARTS;

EID: 55149123571     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2008.02.003     Document Type: Article

References (42)

1. Sethian J.A. A fast marching level set method for monotonically advancing fronts. Proceedings of the National Academy of Sciences of the United States of America 93 4 (1996) 1591-1595
2. Borenstein J., and Koren Y. Histogramic in-motion mapping for mobile robot obstacle avoidance. IEEE Journal of Robotics 7 4 (1991) 535-539
3. H. Moravec, A. Elfes, High resolution maps from wide angle sonar, in: Proceedings of the IEEE International Conference on Robotics and Automation, St. Louis, MO, 1985
4. Mataric M. Integration of representation into goal-driven behavior-based robots. IEEE Transaction on Robotics and Automation 3 (1992) 304-312
5. Kuipers B., and Levitt T. Navigation and mapping in large-scale space. AI Magazine 9 (1988) 25-43
6. G. Oriolo, G. Ulivi, M. Vandittelli, On-line map-building and navigation for autonomous mobile robots, in: Proceedings of the IEEE International Conference on Robotics and Automation, Nagoya, Japan, 1995, pp. 2900-2906
7. L.K.A. Howard, Generating sonar maps in highly specular environments, in: Proceedings of the Fourth International Conference on Control, Automation, Robotics and Vision, 1996
8. Elfes A. Sonar-based real world mapping and navigation. IEEE Journal of Robotics and Automation RA-3 3 (1987) 249-265
9. Elfes A. Using occupancy grids for mobile robot perception and navigation. Computer Magazine (1989) 46-57
10. Kuipers B., and Byun Y. A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations. Robotics and Autonomous Systems 8 (1991) 47-63
11. W. Lee, Spatial semantic hierarchy for a physical robot, Ph.D. Thesis, Department of Computer Sciences, The University of Texas, Austin, TX, 1996
12. Oriolo G., Ulivi G., and Vandittelli M. Fuzzy maps: A new tool for mobile robot perception and planning. Journal of Robotic Systems 3 14 (1997) 179-197
13. S.B. Thrun, A. Bucken, Integrating grid-based and topological maps for mobile robot, in: Proceedings of the 13th National Conference on Artificial Intelligence, AAAI-96, Portland, OR, 1996, pp. 944-950
14. S. Thrun, A. Bucken, Learning maps or indoor mobile robot navigation, Tech. Rep., Tech. Rept. CMU-CS-96-121, Carnegie Mellon University, Pittsburgh, PA, 1996
15. Feder H., Leonard J., and Smith C. Adaptive mobile robot navigation and mapping. International Journal of Robotics Research 7 18 (1999) 650-668
16. B. Yamauchi, A frontier-based exploration for autonomous exploration, in: Proceedings of the 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation, Monterey, CA, 1997, pp. 146-151
17. B. Yamauchi, A. Schultz, W. Adams, K. Graves, Integrating map learning, localization and planning in a mobile robot, in: Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation, Gaithersburg, MD, 1998, pp. 331-336
18. J. Zelek, A framework for mobile robot concurrent path planning and execution in incomplete and uncertain environments, in: Proceedings of the AIPS-98 Workshop on Integrating Planning, Scheduling and Execution in Dynamic and Uncertain Environments, Pittsburgh, PA, 1998
19. Junior E.S., Idiart M.A.P., Engel P., and Trevisan M. Exploration method using harmonic functions. Journal of Robotics and Autonomous Systems 40 1 (2002) 25-42
20. Junior E.S., Idiart M.A.P., Engel P., and Trevisan M. Autonomous learning architecture for environmental mapping. Journal of Intelligent and Robotic Systems 39 (2004) 243-263
21. Junior E.S., Idiart M.A.P., Engel P., and Trevisan M. Exploratory navigation based on dynamical boundary value problems. Journal of Intelligent and Robotic Systems 45 (2006) 101-114
22. R. Kimmel, J.A. Sethian, Fast marching methods for robotic navigation with constraints, Tech. Rep., 1996
23. Sethian J. Level Set Methods (1996), Cambridge University Press
24. Latombe J.C. Robot Motion Planning (1991), Kluwer Academic Publishers, Dordrecht, Netherlands
25. S. Garrido, L. Moreno, M. Abderrahim, F. Martin, Path planning for mobile robot navigation using voronoi diagram and fast marching., in: Proc of IROS'06, Beijing, China, 2006, pp. 2376-2381
26. * and fast marching optimisation: Comparative study. Journal of Signal Processing 83 11 (2003) 2387-2396
27. A. Poty, P. Melchior, A. Oustaloup, Dynamic path planning by fractional potential, in: Computational Cybernetics, 2004, ICCC 2004, Second IEEE International Conference on, 2004
28. R. Philippsen, R. Siegwart, An interpolated dynamic navigation function, in: Poc. of the 2005 IEEE Int. Conf. on Robotics and Automation, 2005
29. Petres C., Pailhas Y., Patron P., Petillot Y., Evans J., and Lane D. Path planning for autonomous underwater vahicles. IEEE Transactions on Robotics 23 2 (2007) 331-341
30. S. Mauch, Efficient algorithms for solving static Hamilton-Jacobi equations, Ph.D. Thesis, California Inst. of Technology, 2003
31. Covello P., and Rodrigue G. A generalized front marching algorithm for the solution of the eikonal equation. Journal of Computational and Applied Mathematics 156 2 (2003) 371-388
32. Rosenfeld A., and Pfaltz J.L. Sequential operations in digital picture processing. Journal of the ACM 13 4 (1966) 471-494
33. Borgefors G. Distance transformations in arbitrary dimensions. Computer Vision, Graphics and Image Processing 27 (1984) 321-345
34. Borgefors G. Distance transformations in digital images. Computer Vision, Graphics and Image Processing 34 3 (1986) 344-371
35. Danielsson P.E. Euclidean distance mapping. Computer Graphics and Image Processing 14 (1980) 227-248
36. H. Yamada, Complete euclidean distance tranformation by parallel operation, in: Proc. of 7th Int. Conf. on Pattern Recognition, 1984, pp. 69-71
37. Breu H., Gil J., Kirkpatrick D., and Werman M. Linear time euclidean distance transform algorithms. IEEE Transactions on Pattern Analysis and Machine Intelligence 17 5 (1995) 529-533
38. Friedman J.H., Bentley J., and Finkel R. An algorithm for finding best matches in logarithmic expected time. ACM Transactions on Mathematics Software 3 3 (1997) 209-226
39. S. Garrido, L. Moreno, D. Blanco, Voronoi diagram and fast marching applied to path planning., in: 2006 IEEE International conference on Robotics and Automation, ICRA 2006, pp. 3049-3054
40. Sethian J.A. Theory, algorithms, and aplications of level set methods for propagating interfaces. Acta Numerica (1996), Cambridge Univ. Press 309-395
41. Yatziv L., Bartesaghi A., and Sapiro G. O (n) implementation of the fast marching algorithm. Journal of Computational Physics 212 2 (2006)
42. M. Khatib, R. Chatila, An extended potential field approach for mobile robot sensor-based motion, in: Proceedings of the IEEE Int. Conf. on Intelligent Autonomous Systems, 1995