Difference between revisions of "Path Planning Systems"

From RoboJackets Wiki
Jump to navigation Jump to search
(Added Player resources.)
m (Text replacement - "Category: IGVC 2008" to "Category:2008-2009")
 
(32 intermediate revisions by 3 users not shown)
Line 1: Line 1:
−
The purpose of the "Path Planning Systems" is to find an optimal path through the environment, given a model of the environment from the data of the "Data Filtering Systems."
+
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
−
* IEEE Explorer
+
** [[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
 
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org
 
**http://www.library.gatech.edu:2048/login?url=http://ieeexplore.ieee.org
−
* Player/Stage/Gazebo
+
* 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://playerstage.sourceforge.net/
+
**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.

Path Planning Systems Architecture

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

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

Books

  • "Planning Algorithms" by Steven M. LaValle
  • "Probabilistic Robotics" by Sebastian Thurn, Wolfram Burgard, Dieter Fox
    • JP has a hard copy.

Articles

Retrieved from "https://wiki.robojackets.org/index.php?title=Path_Planning_Systems&oldid=16803"