A Variational Approach to Search and Path Planning Using Level Set Methods
نویسندگان
چکیده
In this paper we propose a variational approach to a path planning problem in 2 dimensions using a level set framework. After defining an energy integral over the path, we use gradient flow on the defined energy and evolve the entire path until a locally optimal steady state is reached. Unlike typical level set implementations where the interface being tracked is a codimension-1 set, we allow for paths with positive, varying widths. Applications of this method extend to robotic motion, tool-path milling, and arial search patterns for example. Numerical methods and algorithms are given, and examples are presented.
منابع مشابه
A Variational Approach to Path Planning in Three Dimensions Using Level Set Methods
In this paper we extend the two dimensional methods set forth in [4], proposing a variational approach to a path planning problem in three dimensions using a level set framework. After defining an energy integral over the path, we use gradient flow on the defined energy and evolve the entire path until a locally optimal steady state is reached. We follow the framework for motion of curves in th...
متن کاملPath Planning Through Variational Dynamic Programming
The path planning problem, i.e., the geometrical problem of finding a collision-free path between two given configurations of a robot moving among obstacles, has been studied by many authors in recent years. Several complete algorithms exist for robots with few degrees of freedom (DOF), but they are intractable for more than 4 DOF. In order to tackle problems in higher dimensions, several heuri...
متن کاملThe Integrated Supply Chain of After-sales Services Model: A Multi-objective Scatter Search Optimization Approach
Abstract: In recent decades, high profits of extended warranty have caused that third-party firms consider it as a lucrative after-sales service. However, customers division in terms of risk aversion and effect of offering extended warranty on manufacturers’ basic warranty should be investigated through adjusting such services. Since risk-averse customers welcome extended warranty, while the cu...
متن کاملThe Technical and Vocational University in the position of entrepreneurial university; In search of a transformational scenario
Promoting entrepreneurial universities is one of the favorable scenarios for the participation of the higher education system and universities and higher education institutions in the process of sustainable national development. Technical and Vocational University (TVU), as the largest technical state university, is an entrepreneurial and society-oriented university that can create value throug...
متن کاملFast Path Re-planning Based on Fast Marching and Level Sets
We investigate path planning algorithms that are based on level set methods for applications in which the environment is static, but where an a priori map is inaccurate and the environment is sensed in real-time. Our principal contribution is not a new path planning algorithm, but rather a formal analysis of path planning algorithms based on level set methods. Computational costs when planning ...
متن کامل