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1 January 1990 Free-space representations for robot path planning
Kenneth F. Hughes, Alade Tokuta
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Proceedings Volume 1293, Applications of Artificial Intelligence VIII; (1990) https://doi.org/10.1117/12.21091
Event: 1990 Technical Symposium on Optics, Electro-Optics, and Sensors, 1990, Orlando, FL, United States
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.
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Kenneth F. Hughes and Alade Tokuta "Free-space representations for robot path planning", Proc. SPIE 1293, Applications of Artificial Intelligence VIII, (1 January 1990); https://doi.org/10.1117/12.21091
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KEYWORDS
Image processing
Free space
Mobile robots
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