# Path Planning Systems

From RoboJackets Wiki

The "Path Planning Systems" groups is responsible for find an optimal path through the environment, given a model of the environment from the data (provided by Data Filtering Systems group). This group will be developing the high-level code to control Candii during the autonomous and GPS waypoint navigation challenges--essentially, Candii's AI. Path planning algorithms, maps, and learning are the main focus points of this group.

## People

## Meetings

- IGVC Planning Day
- Tuesday, 6-7pm, Tin Building

- Path Planning Meeting (with Dr. Vela)
- Friday, 1pm, Van Leer (VL) E368

- IGVC Work Day
- Saturday, 2-6pm, Tin Building

## TODO List

- [ ] Week of January 28, 2008
- [ ] MATLAB
- [ ] Vectorization
- [ ] Splines

- [ ] C
- [ ] Matrices/Vectors
- [ ] MTL http://osl.iu.edu/research/mtl/
- [ ] Meschach http://www.math.uiowa.edu/~dstewart/meschach/
- [ ] FLENS http://flens.sourceforge.net/

- [ ] Data Structures
- [ ] Stack
- [ ] Occupancy Grid
- [ ] Grid Point

- [ ] Matrices/Vectors

- [ ] MATLAB

## Task List

- [ ] Path Planning
- [x] Dijkstra's algorithm
- [ ] Gradient traversal
- [x] manhatten distance
- [x] vector addition
- [ ] splines

- [ ] A* algorithm
- [ ] D* algorithm

- [ ] Cost Map
- [x] Sweeping Algorithm
- [x] implement manhattan distance
- [x] implement geometric approximation
- [x] add obstacles
- [x] add variable start/goal locations

- [ ] Obstacle Avoidance
- [ ] using sweeping algorithm
- [ ] using depth-limited sweep

- [x] Sweeping Algorithm
- [ ] Implementation
- [ ] Matlab Prototype
- [ ] C/C++ Product

## Resources

### Books

- "Planning Algorithms" by Steven M. LaValle
- http://planning.cs.uiuc.edu
- Jin Joo has a hard copy.

- "Probabilistic Robotics" by Sebastian Thurn, Wolfram Burgard, Dieter Fox
- JP has a hard copy.

### Articles

- IEEE Xplore
- Lengyel, Reichert, Donald, and Greenberg. "Real-Time Robot Motion Planning Using Rasterizing Computer Graphics Hardware." Comp. Graph., Vol. 243, No. 4, pp. 327-335, 1990.
- Kimmel and Sethian. "Optimal Algorithm for Shape from Shading and Path Planning." J. of Math. Imaging and Vis., Vol 14, pp. 237-244, 2001.
- Wiener and Mallot. 'Fine-to-Coarse' Route Planning and Navigation in Regionalized Environments. Max-Planck-Institute Biological Cybernetics. Technical Report TR-115, 2003.
- Kuffner. Efficient Optimal Search of Uniform-Cost Grids and Lattices. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. 1946-1950.
- Hassouna, Abdel-Hakim, Farag. "Robust Robotic Path Planning Using Level Sets." Proc. IEEE ICIP, pp 473-476, 2005.