PATH PLANNING

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• PATH PLANNING

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Bug Algorithms
Bug1
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Bug Algorithms
Bug1
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Bug Algorithms
Bug2
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Bug Algorithms
Bug2
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Bug Algorithms
Bug2
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• POTENTIAL FUNCTIONS

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Potential Field
Attractive Repulsive Forces
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Potential Field
Potential Function
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Potential Field
Attractive Potential
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Potential Field
Repulsive Potential
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Potential Field
BrushFire Algorithm
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Potential Field
Local Minima Problem
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Potential Field
Wavefront Planner
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Navigation Functions
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Navigation Functions
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Value Iteration

• Value Iteration Algorithm
• Dynamic programming (fast)
• Creates potential field (run only once per
  target)
• Initialization rule
• Update rule

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Value Iteration - Results
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• OBSTACLE AVOIDANCE

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Certainty Grid Representation
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VFF Virtual Force Field
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VFF Virtual Force Field
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Polar Histogram
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Polar Histogram
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Motion Candidate Directions
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Traveling Alongside an Obstacle
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Steering Reference
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VFH Example Course