A Practical Approach to FM² Motion Planner

Abstract:

The capability to plan a trajectory from a start to a goal position is essential for a mobile robot in order to obtain autonomy in navigation. The FM² motion planner is a Fast Marching based algorithm that obtains the shortest geometric path between the safe possible ones. The safety, smoothness and reliability of the obtained trajectories have previously been theoretically demonstrated and make this planner suitable for applying it in a real robot. This paper attempts to measure the capabilities of the FM² planner beyond theoretical results. As a previous step to apply it in our real robots, the FM² planner is integrated as a plug-in driver in the Player/Stage multirobot simulation tool and the algorithm is tested under different environments and robot platforms. The results presented in this paper show the power of the FM² method and the adequateness of the approach.

• Periodical: Advanced Materials Research (Volumes 403-408)
• Pages: 3305-3314
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.403-408.3305
• Online since: November 2011
• Authors: Ander Ansuategui, Loreto Susperregi, Elena Lazkano, Basilio Sierra
• Keywords: Fast Marching Square, Navigation, Path Planning, Robotics

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