A Variational Approach to Search and Path Planning Using Level Set Methods

Abstract

In this paper we propose a variational approach to a path planning problem in 2 dimensions using a level set framework. After defining an energy integral over the path, we use gradient flow on the defined energy and evolve the entire path until a locally optimal steady state is reached. Unlike typical level set implementations where the interface being tracked is a codimension-1 set, we allow for paths with positive, varying widths. Applications of this method extend to robotic motion, tool-path milling, and arial search patterns, for example. Numerical methods and algorithms are given, and examples are presented.

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Document Details

Document Type
Technical Report
Publication Date
Sep 30, 2004
Accession Number
ADA438277

Entities

People

  • Daniel Marthaler
  • T. Cecil

Organizations

  • University of Texas at Austin

Tags

Communities of Interest

  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Algorithms
  • Boundaries
  • Boundary Value Problems
  • Collision Avoidance
  • Curvature
  • Differential Equations
  • Equations
  • Image Processing
  • Integrals
  • Motion Planning
  • Partial Differential Equations
  • Personal Information Managers
  • Robotics
  • Robots
  • Steady State
  • Topology
  • Two Dimensional

Readers

  • Applied Combinatorial Optimization and Logic Circuit Design.
  • Graph Algorithms and Convex Optimization.
  • Operations Research

Technology Areas

  • AI & ML
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy