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IROS
2006
IEEE

Log of the inverse of the Distance Transform and Fast Marching applied to Path Planning

9 years 5 months ago
Log of the inverse of the Distance Transform and Fast Marching applied to Path Planning
— This paper presents a new Path Planning method based in the inverse of the Logarithm of the Distance Transform and in the Fast Marching Method. The Distance Transform of an image gives a grey scale that is darker near the obstacles and walls and more clear far from them and it is calculated via Voronoi Diagram. The Logarithm of the inverse of the Distance Transform imitates the repulsive electric potential from walls and obstacles. This method is very fast and reliable and the trajectories are similar to the human trajectories: smooth and not very close to obstacles and walls.
Santiago Garrido, Luis Moreno, Dolores Blanco, Fer
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Santiago Garrido, Luis Moreno, Dolores Blanco, Fernando Martin
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