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This paper presents the application to nonholonomic mobile robot path planning of our Voronoi fast marching (VFM) and FM2 methods, which represents our current progress on the design and analysis of these algorithms. The VFM and FM2 methods use the propagation of a wave (fast marching) operating on the world model, to determine a motion plan over a slowness map (similar to the refraction index in...
This paper presents a new method to improve the trajectories based in the Voronoi fast marching method (VFM). It can be used to improve the smoothness and the length of the trajectories calculated with probabilistic methods with bad quality trajectories such as RRT or PRM. This way, it is possible to get the good properties of the RRT method as the fact that it can work in many dimensions with the...
Efficient mapping of unknown environments is a fundamental function for mobile robot intelligence. To do so requires good exploration strategies and solving the simultaneous localization and mapping problem. The approach presented in this paper is an integration of our solutions into the problems of exploration and map building with a single robot. The exploration algorithm is based on the Voronoi...
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