A morphological proposal for vision-based path planning

Abstract

Many different path planning methods have been proposed over recent years, although there are only a few that deal with computer vision techniques. In this work we implement a path planning algorithm which takes into account a vision processing system. Thus, we develop a method that uses Mathematical Morphology to provide near-optimal paths throughout an environment. The experiments show that our path planning algorithm is able to locate good solution paths after a training process, which is necessary to fix some parameters. This will make possible its adaptation to a practical robot system. © Springer-Verlag Berlin Heidelberg 2005.