Difference between revisions of "Path Planning Systems"
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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. | 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. | ||
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| + | [[Image:igvcpp.png|thumb|right|480px|Path Planning Systems Architecture]] | ||
== People == | == People == | ||
Revision as of 11:34, 12 November 2007
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
Task List
- [ ] Path Planning
- [x] Dijkstra's algorithm
- [ ] Gradient traversal
- [ ] A* algorithm
- [ ] D* algorithm
- [ ] Cost Map
- [ ] Sweeping Algorithm
- [x] implement manhattan distance
- [x] implement geometric approximation
- [x] add obstacles
- [ ] add variable start/goal locations
- [ ] Sweeping Algorithm
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.
- "Artificial Intelligence - A Modern Approach" by Peter Russel and Stuart Norvig
- 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.
