Path Planning using Shi and Karl Level Sets

Randeep Singh; Nagaraju Bussa

1st International ICST Conference on Robot Communication and Coordination

Research Article

Path Planning using Shi and Karl Level Sets

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Cite: BibTeX Plain Text

@INPROCEEDINGS{10.4108/ICST.ROBOCOMM2007.2085,
    author={Randeep Singh and Nagaraju Bussa},
    title={Path Planning using Shi and Karl Level Sets},
    proceedings={1st International ICST Conference on Robot Communication and Coordination},
    proceedings_a={ROBOCOMM},
    year={2010},
    month={5},
    keywords={},
    doi={10.4108/ICST.ROBOCOMM2007.2085}
}

Randeep Singh
Nagaraju Bussa
Year: 2010
Path Planning using Shi and Karl Level Sets
ROBOCOMM
ICST
DOI: 10.4108/ICST.ROBOCOMM2007.2085

Randeep Singh¹^,*, Nagaraju Bussa²^,*

1: Reliable Care Solutions Philips Research Asia – Bangalore (PRA-B) Bangalore 560045, India. Tel: +91-80-4189 2252 Fax: +91-80-4189 2265
2: Reliable Care Solutions Philips Research Asia – Bangalore (PRA-B) Bangalore 560045, India. Tel: +91-80-4189 2237 Fax: +91-80-4189 2265

*Contact email: randeep.singh@philips.com, nagaraju.bussa@philips.com

Abstract

Path planning for mobile robots is a well researched problem for over three decades. In this paper, we test and evaluate a new approach based on Shi and Karl Level Sets for mobile robot path planning. The evolution speed of these level sets is the fastest available implementation of level sets till date that prompted us to test the algorithm in the path planning domain. Level Sets have the advantage that they can support multiple robots and multiple goals in a single framework. This approach is similar to the Pixel Level Snakes but much faster and the resulting paths are different for some obstacle courses using these two approaches. To keep experiments simple we consider a holonomic point robot moving amidst stationary obstacles. The visual results presented in this paper are preliminary and tested in simulations only.

Published: 2010-05-16
Modified: 2010-05-16

: http://dx.doi.org/10.4108/ICST.ROBOCOMM2007.2085