A Practical Approach to FM2 Motion Planner
Ander Ansuategi, Loreto Susperregi, Elena Lazkano, Basilio Sierra · Advanced materials research · 2011
The capability to plan a trajectory from a start to a goal position is essential for a mobile robot in order to obtain autonomy in navigation. The FM2 motion planner is a Fast Marching based algorithm that obtains the shortest geometric path between the safe possible ones. The safety, smoothness and reliability of the obtained trajectories have previously been theoretically demonstrated and make this planner suitable for applying it in a real robot. This paper attempts to measure the capabilities of the FM2 planner beyond theoretical results. As a previous step to apply it in our real robots, the FM2 planner is integrated as a plug-in driver in the Player/Stage multirobot simulation tool and the algorithm is tested under different environments and robot platforms. The results presented in this paper show the power of the FM2 method and the adequateness of the approach.