Difference between revisions of "Path Planning Systems"
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− | The | + | 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. |
+ | [[Image:igvcpp.png|thumb|right|480px|Path Planning Systems Architecture]] | ||
− | == | + | == People == |
+ | * [[User:JeanPierreDLC|JP]] | ||
+ | * [[User:JinL|Jin Joo]] | ||
+ | * [[User:HusaynV|Husayn]] | ||
+ | |||
+ | == 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 | ||
+ | |||
+ | == 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 | ||
+ | * [ ] Implementation | ||
+ | ** [ ] Matlab Prototype | ||
+ | ** [ ] C/C++ Product | ||
== Resources == | == Resources == | ||
+ | === Books === | ||
* "Planning Algorithms" by Steven M. LaValle | * "Planning Algorithms" by Steven M. LaValle | ||
− | **http://planning.cs.uiuc.edu | + | ** http://planning.cs.uiuc.edu |
+ | ** [[User:JinL|Jin Joo]] has a hard copy. | ||
+ | * "Probabilistic Robotics" by Sebastian Thurn, Wolfram Burgard, Dieter Fox | ||
+ | ** [[User:JeanPierreDLC|JP]] has a hard copy. | ||
+ | |||
+ | === Articles === | ||
* IEEE Xplore | * IEEE Xplore | ||
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org | **http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org | ||
+ | * 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. | ||
+ | **http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf | ||
+ | * Kimmel and Sethian. "Optimal Algorithm for Shape from Shading and Path Planning." J. of Math. Imaging and Vis., Vol 14, pp. 237-244, 2001. | ||
+ | **http://www.cs.technion.ac.il/~ron/PAPERS/optimal_shading2001.ps.gz | ||
+ | * Wiener and Mallot. 'Fine-to-Coarse' Route Planning and Navigation in Regionalized Environments. Max-Planck-Institute Biological Cybernetics. Technical Report TR-115, 2003. | ||
+ | **http://wiki.robojackets.org/wiki/images/f/f2/WienerMallot.pdf | ||
+ | * Kuffner. Efficient Optimal Search of Uniform-Cost Grids and Lattices. Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. 1946-1950. | ||
+ | **http://wiki.robojackets.com/wiki/images/e/eb/KuffnerOptimalSearch.pdf | ||
+ | * Hassouna, Abdel-Hakim, Farag. "Robust Robotic Path Planning Using Level Sets." Proc. IEEE ICIP, pp 473-476, 2005. | ||
+ | **http://www.cs.dartmouth.edu/~brd/papers/siggraph/animation.pdf | ||
+ | |||
+ | [[Category: IGVC]][[Category:2008-2009]] |
Latest revision as of 21:05, 18 July 2018
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.