8 research outputs found
Mathematical morphology and binary geodesy for robot navigation planning
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