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Proceedings Paper

Heuristic Traversal Of A Free Space Graph
Author(s): Peter D. Holmes; Erland Jungert
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Paper Abstract

In order to plan paths within a physical working space, effective data structures must be used for spatial representation. A free space graph is a data structure derived from a systematic decomposition of the unobstructed portions of the working space. For the two-dimensional case, this work describes an heuristic method for traversal and search of one particular type of free space graph. The focus herein regards the "dialogue" between an A* search process and an inference engine whose rules employ spatial operators for classification of local topologies within the free space graph. This knowledge-based technique is used to generate plans which describe admissible sequences of movement between selected start and goal configurations.

Paper Details

Date Published: 5 January 1989
PDF: 9 pages
Proc. SPIE 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation, (5 January 1989); doi: 10.1117/12.948963
Show Author Affiliations
Peter D. Holmes, Swedish Defence Research Establishment (FOA) (Sweden)
Erland Jungert, Swedish Defence Research Establishment (FOA) (Sweden)

Published in SPIE Proceedings Vol. 1003:
Sensor Fusion: Spatial Reasoning and Scene Interpretation
Paul S. Schenker, Editor(s)

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