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This paper presents the application of the Anisotropic Fast Marching Method to the path planning problem of robots moving in spatial environments. The slope of a terrain should be considered in a tensorial way because at any point on a mountainside there are two main slopes: the maximum, which is the slope of the gradient, and the minimum, which is the perpendicular slope to the gradient. The resulting...
Path planning is an essential tool for the robots that explore the surface of Mars or other celestial bodies such as dwarf planets, asteroids, or moons. These vehicles require expert and intelligent systems to adopt the best decisions in order to survive in a hostile environment. The planning module has to take into account multiple factors such as the obstacles, the slope of the terrain, the surface...
An autonomous system was developed, able to move within a culture with accurately and efficiently; being practical and economically feasible to dosing fertilizers in small crops, which make up of the most area for agricultural production in Colombia. This system use of culture limits by GPS coordinates for distribution and generation the positioning points on one hectare pilot. The GPS coordinates...
This paper presents a new sensor based global path planner which operates in two steps. In the first step the safest areas in the environment are extracted by means of a Voronoi diagram. In the second step fast marching method is applied to the Voronoi extracted areas in order to obtain the shortest path. In this way the trajectory obtained is the shortest between the safe possible ones. This two...
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