30 October 2009 Path planning using FMM with direction and curvature constrained
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Proceedings Volume 7498, MIPPR 2009: Remote Sensing and GIS Data Processing and Other Applications; 749847 (2009) https://doi.org/10.1117/12.832467
Event: Sixth International Symposium on Multispectral Image Processing and Pattern Recognition, 2009, Yichang, China
Abstract
It is difficult to meet both direction and curvature constraints for traditional Fast Marching (FM) method in path planning. Based on adjusting the cost function in Eiknoal equation-the control equation for FM, a new model for computing the integrated cost function was presented in this paper. A relationship formula about curvature radius was obtained and three kinds of adjusting strategies were given; two of them were used to modify the route to meet with the requires of turning constraint in this paper. Experiments showed that the improved model can be used to plan the path with FMM for agent such as unmanned aerial vehicle (UAV) or robot, which is limited to pass through the scene matching areas. And our preliminary experiments demonstrated that the strategies are feasible and efficient to obtain path with certain curvature radius. The model can also be used to represent the problem such as an aircraft flying in a flow field.
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Shidong Li, Shidong Li, Mingyue Ding, Mingyue Ding, Chao Cai, Chao Cai, } "Path planning using FMM with direction and curvature constrained", Proc. SPIE 7498, MIPPR 2009: Remote Sensing and GIS Data Processing and Other Applications, 749847 (30 October 2009); doi: 10.1117/12.832467; https://doi.org/10.1117/12.832467
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