Use of mathematical morphology in real‐time path planning
Francisco A. Pujol, Juan Manuel García‐Chamizo, Andrés Fuster-Guilló, Mar Pujol López, Ramón Rizo Aldeguer · Kybernetes · 2002
If an autonomous vehicle is working in an image‐based system which needs real‐time answers and whose response is critical, it will be very important to reduce computation times and, as we know, this could be performed by increasing the system parallelism. Since morphological filtering is the origin of several applications in computer vision, in this paper we are going to describe some new features to implement morphological operations by using digital signal processors. After that, an application to path planning is proposed. The standard shortest path planning problem determines a collision‐free path of shortest distance between two distinct locations in an environment scattered with obstacles. Consequently, a path planning algorithm which uses morphological operations and a DSP to process images is then described.