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To navigate in complex environments, a robot needs to reach a compromise between the need for having efficient and optimized trajectories and the need for reacting to unexpected events. This paper presents a new sensor based non-holonomic Path Planner which integrates the global motion planning and local obstacle avoidance capabilities. In the first step the safest areas in the environment are extracted...
The Extended Voronoi Transform and the Fast Marching Method combination provide potential maps for robot navigation in previously unexplored dynamic environments. The Logarithm of the Extended Voronoi Transform imitates the repulsive electric potential from walls and obstacles. The method proposed, called Voronoi Fast Marching method, uses a Fast Marching technique on the Extended Voronoi Transform...
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