Abstract
Fast Marching Method has been applied to many fields such as image processing or path planning. For path planning, the Anisotropic Fast Marching Method can be used, which allows computing paths with small gradient, a very interesting characteristic for outdoor robots such as the Mars rovers. This paper studies the quality of the different paths that can be computed looking into the height changes, gradient of the path, gradient of the terrain (as surface) and curvature, when the anisotropy index is changed.
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Garrido, S., Moreno, L., Martin, F., Alvarez, D. (2018). Quality Study of Robot Trajectories Based on the Anisotropic Fast Marching Method. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 693. Springer, Cham. https://doi.org/10.1007/978-3-319-70833-1_72
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DOI: https://doi.org/10.1007/978-3-319-70833-1_72
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