Wavefront expansion algorithm
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Motivation
- sampling based motion planner
- pathplanner for determine the shorted path between start and goal
- commonly used in robotics [1]
Key points
- Wavefront algorithm = BFS (Breadth First Search) [2]
- grid map is generated which includes directions for robot
Heuristics
- it's a heuristics to speed up search in the graph
- wavefront expansion to avoid local minima
Potential field
- similar to potential field [3]
- numerical potential field
- Artificial Potential Field
- Wavefront numerical potential field
- wavefront expansion is a specialized potential field pathplanner [4]
- potential field is drawn into the map, the robot follows the lowest values of the field
References
- ^ Chytra Pawashe and Metin Sitti (2006). "Two-dimensional vision-based autonomous microparticle manipulation using a nanoprobe". Journal of Micromechatronics. 3 (3). Brill: 285–306. doi:10.1163/156856306777924671.
- ^ Simonin, Olivier and Charpillet, Francois and Thierry, Eric (2007). "Collective construction of numerical potential fields for the foraging problem". Research Report RR-6171, Inria-00143302v1.
{{cite journal}}: CS1 maint: multiple names: authors list (link) - ^ Miraglia, Giovanni and Hook, IV (2019). "A Feedback Motion Plan for Vehicles with Bounded Curvature Constraints". arXiv:1910.06460.
{{cite arXiv}}: CS1 maint: multiple names: authors list (link) - ^ Soulignac, Michael and Taillibert, Patrick (2006). Fast trajectory planning for multiple site surveillance through moving obstacles and wind. Proceedings of the Workshop of the UK Planning and Scheduling Special Interest Group. pp. 25--33.
{{cite conference}}: CS1 maint: multiple names: authors list (link)