Abstract
A new method for obtaining the optimal path to robot navigation in 2-D environments is presented in this paper. To obtain the optimal path we use mathematical morphology in binary worlds and the geodesic distance. The navigation algorithm is based on the search for a path of minimum cost by using the wave-front of the geodesic distance of the mathematical morphology. The optimal path will be the one that minimize the direction changes of the robot. The algorithm of optimal path will be applied in several and complex 2-D environments.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Zavlangas, P., Tzafestas, S.: Integration of topological and metric maps for indoor mobile robot path planning and navigation. In: Vlahavas, I.P., Spyropoulos, C.D. (eds.) SETN 2002. LNCS (LNAI), vol. 2308, pp. 121–130. Springer, Heidelberg (2002)
Reid, M.: Path Planning Using Optically Computed Potencial Fields. In: Proc. IEEE International Conference on Robotics and Automation, Atlanta, pp. 295–300 (1993)
Meigoli, V., Kamalodin, S., Nikravesh, Y., Talebi, H.: A new global fuzzy path planning and obstacle avoidance scheme for mobile robots. In: Proc. Advanced Robotics, Coimbra, pp. 1296–1301 (2003)
Zhuang, X., Meng, Q., Yin, B., Wang, H.: Robot path planning by artificial potential fields optimization based on reinforcement learning with fuzzy state. In: Proc. Intelligent Control and Automation, Shanghai, pp. 1166–1170 (2002)
Zou, X., Cai, Z., Sun, G.: Non-smooth environment modelling and global path planning for mobile robots. Journal of Central South University of Technology 10(3), 248–254 (2003)
Hwang, J., Kim, J., Lim, S., Park, K.: A fast path planning by path graph optimization. IEEE Transactions on Systems Man and Cybernetics Part A-Systems and Humans 33(1), 121–128 (2003)
Serra, J.: Image Analysis and Mathematical Morphology, vol. I. Academic Press, London (1981)
Serra, J.: Image Analysis and Mathematical Morphology. Theoretical Advances, vol. II. Academic Press, London (1988)
Heijmans, H.: Morphological Image Operators. Academic Press, New York (1994)
Lantuéjoul, C., Beucher, S.: Geodesic distance and image analysis. Mikroskopie 37, 138–142 (1980)
Soille, P.: Morphological Image Analysis. Principles and Applications. Springer, Berlin (1999)
Dugundji, J.: Topology. Allyn & Bacon, Boston (1966)
Diestel, R.: Graph Theory. Springer, New York (1997)
Ortiz, F.: Procesamiento Morfológico de Imágenes en Color. Aplicación a la Reconstrucción Geodésica. In: Virtual Library Miguel de Cervantes Alicante, 121-136 (2002), http://www.cervantesvirtual.com
Verbeek, P., Dorst, L., Verwer, B., Groen, F.: Collision avoidance and path finding through constrained distance transformation in robot state space. In: Proc. Intelligent Autonomous Systems, Amsterdam, pp. 634–641 (1986)
Lengyel, J., Reichert, J., Donald, B., Greenberg, D.: Real-time robot motion planning using rasterizing. Computer Graphics 24(4), 327–335 (1990)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2005 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Ortiz, F., Puente, S., Torres, F. (2005). Mathematical Morphology and Binary Geodesy for Robot Navigation Planning. In: Singh, S., Singh, M., Apte, C., Perner, P. (eds) Pattern Recognition and Data Mining. ICAPR 2005. Lecture Notes in Computer Science, vol 3686. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11551188_13
Download citation
DOI: https://doi.org/10.1007/11551188_13
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-28757-5
Online ISBN: 978-3-540-28758-2
eBook Packages: Computer ScienceComputer Science (R0)