Robot navigation using tube skeletons and fast marching

  title={Robot navigation using tube skeletons and fast marching},
  author={Santiago Garrido and Luis Moreno and Mohamed Abderrahim and Dolores Blanco},
  journal={2009 International Conference on Advanced Robotics},
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 by means of a tube skeleton similar to a Voronoi diagram but with tubular shape. In the… CONTINUE READING