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Proceedings Paper

Scanline Processing Approach To Robot Path Planning Using Overlapping Convex Free Regions
Author(s): Ken Hughes; Alade Tokuta
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Paper Abstract

The problem of finding a path for a mobile robot in two dimensions among stationary obstacles is examined, using a free space graph representation of the robot's workspace. One problem with solutions of this type has been the time it takes to construct a graph from the image of the workspace. Our solution seeks to resolve this situation by constructing the graph representation "on the fly" in a scanline fashion by processing the image one line at a time from top to bottom. One module breaks the obstacles in the image into pseudo obstacles; another module analyzes the pseudo obstacles and locates maximal overlap regions (MOvs) of prime convex regions (PCRs) in the free space; a third constructs a graph representation utilizing the MOvs and PCRs as nodes and edges respectively. The modularity lends itself toward pipelined processing to reach the solution.

Paper Details

Date Published: 1 March 1990
PDF: 11 pages
Proc. SPIE 1193, Intelligent Robots and Computer Vision VIII: Systems and Applications, (1 March 1990); doi: 10.1117/12.969802
Show Author Affiliations
Ken Hughes, University of South Florida (United States)
Alade Tokuta, University of South Florida (United States)


Published in SPIE Proceedings Vol. 1193:
Intelligent Robots and Computer Vision VIII: Systems and Applications
Bruce G. Batchelor, Editor(s)

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