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Boundary following in unknown polygonal environment based on fast marching method

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2 Author(s)
Chia Hsun Chiang ; Inst. of Inf. Sci., Acad. Sinica, Taipei ; Jing- Sin Liu

The fast marching method (FMM) is a powerful tool in the problem of shortest path planning. However it is limited to be used on a completely known terrain. In this paper, given only start and goal in an unknown polygonal environment consisting only polygonal obstacles, we would utilize the technique of boundary following to develop a boundary following FMM (BFFMM) that could be applied well to an unknown terrain. Comparative simulation results in different environments with single or multiple convex and/or concave polygons show that the efficiency of BFFMM outperforms FMM.

Published in:

Advanced robotics and Its Social Impacts, 2008. ARSO 2008. IEEE Workshop on

Date of Conference:

23-25 Aug. 2008