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The Path to Efficiency: Fast Marching Method for Safer, More Efficient Mobile Robot Trajectories

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4 Author(s)
Alberto Valero-Gomez ; Robot. Lab., Univ. Carlos III de Madrid, Leganés, Spain ; Javier V. Gomez ; Santiago Garrido ; Luis Moreno

This article provides a comprehensive view of the novel fast marching (FM) methods we developed for robot path planning. We recall some of the methods developed in recent years and present two improvements upon them: the saturated FM square (FM2) and an heuristic optimization called the FM2 star (FM2*) method.

Published in:

IEEE Robotics & Automation Magazine  (Volume:20 ,  Issue: 4 )