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Computing a Collision-Free Path using the monogenic scale space
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0002-6096-3648
2018 (English)In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2018, p. 8097-8102Conference paper, Published paper (Refereed)
Abstract [en]

Mobile robots have been used for various purposes with different functionalities which require them to freely move in environments containing both static and dynamic obstacles to accomplish given tasks. One of the most relevant capabilities in terms of navigating a mobile robot in such an environment is to find a safe path to a goal position. This paper shows that there exists an accurate solution to the Laplace equation which allows finding a collision-free path and that it can be efficiently calculated for a rectangular bounded domain such as a map which is represented as an image. This is accomplished by the use of the monogenic scale space resulting in a vector field which describes the attracting and repelling forces from the obstacles and the goal. The method is shown to work in reasonably convex domains and by the use of tessellation of the environment map for non-convex environments.

Place, publisher, year, edition, pages
IEEE, 2018. p. 8097-8102
Series
International Conference on Intelligent Robots and Systems (IROS), ISSN 2153-0858
National Category
Computer Vision and Robotics (Autonomous Systems) Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-152713DOI: 10.1109/IROS.2018.8593583ISBN: 978-1-5386-8094-0 (electronic)ISBN: 978-1-5386-8095-7 (print)ISBN: 978-1-5386-8093-3 (print)OAI: oai:DiVA.org:liu-152713DiVA, id: diva2:1263728
Conference
IROS 2018, Madrid, Spain, October 1-5, 2018
Note

Funding agencies:This work was founded by the European Union's Horizon 2020 Programme under grant agreement 644839 (CEN-TAURO).

Available from: 2018-11-16 Created: 2018-11-16 Last updated: 2019-03-20

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Holmquist, KarlFelsberg, Michael

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
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  • asciidoc
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