Abstract
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.
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Ortiz, F., Puente, S., Torres, F. (2005). Mathematical Morphology and Binary Geodesy for Robot Navigation Planning. In: Singh, S., Singh, M., Apte, C., Perner, P. (eds) Pattern Recognition and Data Mining. ICAPR 2005. Lecture Notes in Computer Science, vol 3686. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11551188_13
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DOI: https://doi.org/10.1007/11551188_13
Publisher Name: Springer, Berlin, Heidelberg
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