A fast motion planning algorithm for a mobile robot using a distance transformation image.

Published 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