A fast motion planning algorithm for a mobile robot using a distance transformation image.
Donguk ShinPublished in: Systems and Computers in Japan (1994)
Keyphrases
- distance transformation
- mobile robot
- motion planning
- path planning
- obstacle avoidance
- segmentation algorithm
- binary images
- distance transform
- interpolation method
- image data
- multi robot
- input image
- matching algorithm
- euclidean distance transformation
- image interpolation
- segmentation method
- energy function
- computationally efficient
- expectation maximization
- frequency domain
- gray scale
- medial axis
- image analysis
- feature extraction
- image segmentation