The Solution for Robot Path Planning Based on Level Set Method
Level Set方法求解机器人路径规划的探讨

Path Planning for mobile robots is one of the most fundamental and complex problem in robotics.Main solution methods for path planning mainly include potential field,unit decomposing and neural network methods.Level set methods have been used in a variety of image processing and computer vision tasks with many advantages such as handling of topological changes,numerical stability and independence of paramerization.In order to exploit the application of Level set method in robot path planning problem.Based on introduction of the basic principle,some relative technology of level set method,and solution methods for path planning,implicit Snake or level set model for path planning problems is presented,and fast marching method(FMM) is used to solve this kind of model. Some computation results and their visualization interfaces for this model are given,and compared to the results from classical potential energy methods.Theory and computation results prove that Level set method for robot path planning is feasible and valid,then new technology and method are provide for robot path planning research.