A new 2-D world representation system for mobile robots

A method is proposed that divides the collision free space into convex polygons that can be considered as path segments. A path segment is generated for each pair of free edges on the same polygon. The path segments sharing a common free edge are then linked. This leads to a connective graph indicat...

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Bibliographic Details
Published inPattern Recognition, 9th International Conference on, 1988: Proceedings pp. 604 - 606 vol.1
Main Authors Qian Chen, Asada, M., Tsuji, S.
Format Conference Proceeding
LanguageEnglish
Japanese
Published IEEE Comput. Soc. Press 06.01.2003
Subjects
Control engineering
Indoor environments
Joining processes
Mobile robots
Orbital robotics
Path planning
Robot sensing systems
Shape
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ISBN9780818608780
0818608781
DOI10.1109/ICPR.1988.28304

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Summary:A method is proposed that divides the collision free space into convex polygons that can be considered as path segments. A path segment is generated for each pair of free edges on the same polygon. The path segments sharing a common free edge are then linked. This leads to a connective graph indicating the collision free paths between the free edges. When new data about the world are obtained, it is only necessary to update the convex polygons and their path segments on which new information is available and to modify the links connecting these path segments to others.< >
ISBN:9780818608780
0818608781
DOI:10.1109/ICPR.1988.28304