The Path to Efficiency: Fast Marching Method for Safer, More Efficient Mobile Robot Trajectories

Abstract

This article provides a comprehensive view of the novel fast marching (FM) methods we developed for robot path planning. We recall some of the methods developed in recent years and present two improvements upon them: the saturated FM square (FM <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> ) and an heuristic optimization called the FM <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> star (FM <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2*</sup> ) method.