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Proceedings Paper

Free-space representations for robot path planning
Author(s): Kenneth F. Hughes; Alade Tokuta
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Paper Abstract

The problem of determining an obstacle-free path for an autonomous mobile robot in two dimensions is examined. In this paper we explore the fundamentals necessary to construct a free space graph representation suitable for the problem by processing an input image of the environment in a scanline fashion and breaking the graph construction process into subprocesses which could be pipelined. Our methods describe how obstacles in the image are processed to yield a form more suitable for computation and how these processed pseudo obstacles are used to detect prime convex regions (PCRs) and maximal overlap regions (MOvs) formed by them. We also present experimental results of free space graphs constructed using these ideas.

Paper Details

Date Published: 1 January 1990
PDF: 11 pages
Proc. SPIE 1293, Applications of Artificial Intelligence VIII, (1 January 1990); doi: 10.1117/12.21091
Show Author Affiliations
Kenneth F. Hughes, Univ. of South Florida (United States)
Alade Tokuta, Univ. of South Florida (United States)

Published in SPIE Proceedings Vol. 1293:
Applications of Artificial Intelligence VIII
Mohan M. Trivedi, Editor(s)

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