Exploration of a cluttered environment using Voronoi Transform and Fast Marching

Exploration of 2D and 3D Environments using Voronoi Transform and Fast Marching Method

Robot navigation in unknown environments requires an efficient exploration method. Exploration involves not only to determine towards the robot must to move but also motion planning, and simultaneous localization and mapping processes. The final goal of the exploration task is to build a map of the environment that previously the robot didn’t know. This work proposes the Voronoi Fast Marching m...

SLAM and Exploration using Differential Evolution and Fast Marching

The exploration and construction of maps in unknown environments is a challenge for robotics. The proposed method is facing this problem by combining effective techniques for planning, SLAM, and a new exploration approach based on the Voronoi Fast Marching method. The final goal of the exploration task is to build a map of the environment that previously the robot did not know. The exploration ...

Robot formation motion planning using Fast Marching

This paper presents the application of the Voronoi Fast Marching method to Path Planning of Mobile Formation Robots. The Voronoi Fast Marching method uses the propagation of a wave (Fast Marching) operating on the world model to determine a motion plan over a viscosity map (similar to the refraction index in optics) extracted from the updated map model. The computational efficiency of the metho...

FEM-like Fast Marching Method for the Computation of the Boat-Sail Distance and the Associated Voronoi Diagram

A new concept called a boat-sail distance is introduced on the surface of water with flow, and it is used to define a generalized Voronoi diagram, in such a way that the water surface is partitioned into regions belonging to the nearest harbors with respect to this distance. The problem of computing this Voronoi diagram is reduced to a boundary value problem of a partial differential equation, ...

Sensor-based Global Planning for Mobile Manipulators Navigation using Voronoi Diagram and Fast Marching