Fast Marching in motion planning for rhombic like vehicles operating in ITER

Gómez, Javier V.; Vale, Alberto; Valente, Filipe; Ferreira, José Ribeiro; Garrido, Santiago; Moreno, Luís

doi:10.1109/icra.2013.6631371

Cited by 4 publications

(4 citation statements)

References 15 publications

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“…Lastly, the proposed framework allows to include trajectories with maneuvers [10], as shown in Figure 18. So far, the maneuver poses have to be manually defined and they will not be modified by the optimization procedure.…”

Section: Simulated Resultsmentioning

confidence: 99%

“…Comparing with other previous approaches developed and tested by the same authors, using CDT [8], or Rapidly exploring Random Tree (RRT) [31], or only FM 2 [10], the algorithm proposed in this paper also provides trajectories with no clashes whenever possible, but with better performance in terms of computation time, smoothness and safety.…”

Section: Discussionmentioning

confidence: 96%

“…This solution presents some limitations in terms of path smoothness. In complex scenarios, the geometric representation results in a huge number of triangles with rough initial paths still far from the optimal one, yielding to a computational effort [10]. The Fast Marching Square path planning method (FM 2 ) [11] is an alternative approach for the initialization.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Performance analysis of fast marching-based motion planning for autonomous mobile robots in ITER scenarios

Gómez

Vale

Garrido

et al. 2015

Robotics and Autonomous Systems

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Section: Simulated Resultsmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 96%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Performance analysis of fast marching-based motion planning for autonomous mobile robots in ITER scenarios

Gómez

Vale

Garrido

et al. 2015

Robotics and Autonomous Systems

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“…(5) along a given number of iterations. The initial estimates for the AA and SS were obtained with a bent-rays algorithm based on the Fast Marching Method (FMM) 20 . This is a fast high-frequency approximation that takes into account the refraction of the wave due to the SS heterogeneities of the medium.…”

Section: Scheme Of the Reconstruction And Initial Modelsmentioning

confidence: 99%

Improved misfit function for attenuation and speed reconstruction in ultrasound computed tomography

2017

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The reconstruction of acoustic attenuation maps for transmission Ultrasound Computed Tomography (USCT) based on the standard least-squares full wave inversion method requires the accurate knowledge of the sound speed map in the region under study. Any deviation in the reconstructed speed maps creates a very significant bias in the attenuation map, as the standard least-squares misfit function is more sensitive to time misalignments than to amplitude differences of the signals. In this work, we propose a generalized misfit function which includes an additional term that accounts for the amplitude differences between the measured and the estimated signals. The functional gradients used to minimize the proposed misfit function were obtained using an adjoint field formulation and the fractional Laplacian wave equation. The forward and backward wave propagation was obtained with the parallelized GPU version of the software k-Wave and the optimization was performed with a line search method. A numerical phantom simulating breast tissue and synthetic noisy data were used to test the performance of the proposed misfit function. The attenuation was reconstructed based on a converged speed map. An edge-preserving regularization method based on total variation was also implemented. To quantify the quality of the results, the mean values and their standard deviations in several regions of interest were analyzed and compared to the reference values. The proposed generalized misfit function decreases considerably the bias in the attenuation map caused by the deviations in the speed map in all the regions of interest analyzed.

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Motion Planning Using Fast Marching Squared Method

Garrido

Moreno

Gómez

2015

Motion and Operation Planning of Robotic Systems

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Robotic motion planning have been, and still is, a very intense research field. Many problems have been already solved and even real-time, optimal motion planning algorithms have been proposed and successfully tested in real-world scenarios. However, other problems are not satisfactory solved yet and also new motion planning subproblems are appearing. In this chapter we detail our proposed solution for two of these problems with the same underlying method: non-holonomic planning and outdoor motion planning. The first is characterized by the fact that many vehicles cannot move in any direction at any time (car-like robots). Therefore, kinematic constrains need to be taken into account when planning a new path. Outoor motion planning focuses on the problem that has to be faced when a robot is going to work in scenarios with non-flat ground, with different floor types (grass, sand, etc). In this case the path computed should take into account the capabilities of the robot to properly model the environment. In order to solve these problems we are using the Fast Marching Square method, which has proved to be robust and efficient in the recent past when applied to other robot motion planning subproblems.

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Fast Marching in motion planning for rhombic like vehicles operating in ITER

Cited by 4 publications

References 15 publications

Performance analysis of fast marching-based motion planning for autonomous mobile robots in ITER scenarios

Performance analysis of fast marching-based motion planning for autonomous mobile robots in ITER scenarios

Improved misfit function for attenuation and speed reconstruction in ultrasound computed tomography

Motion Planning Using Fast Marching Squared Method

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