In this paper, we propose a general, robust, and fast path planning framework for robotic
navigation using level set methods. A medial point of the map is selected automatically to be
a point source that transmits two wave fronts of different speeds. The first front propagates
with a moderate speed to capture the map topology, while the second one propagates much
faster at medial points such that the safest paths intersect the propagating fronts at those
points of maximum positive curvature, which are identified by solving an ordinary differential …

In robotic navigation, path planning is aimed at getting the optimum collision-free path
between a starting and target locations. The optimality criterion depends on the surrounding
environment and the running conditions. In this paper, we propose a general, robust, and
fast path planning framework for robotic navigation using level set methods. A level set
speed function is proposed such that the minimum cost path between the starting and target
locations in the environment, is the optimum planned path. The speed function is controlled …