Structuring free space as a hypergraph for roving robot path planning and navigation
This paper presents a method of structuring the free space of a roving robot's environment into a set of overlapping convex regions ideally suited to path planning and navigation tasks. The structure of the free space environment is maintained as a hypergraph with each convex region represented...
| Veröffentlicht in: | IEEE transactions on pattern analysis and machine intelligence. - 1979. - 9(1987), 2 vom: 01. Feb., Seite 263-73 |
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| Format: | Aufsatz |
| Sprache: | English |
| Veröffentlicht: |
1987
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| Zugriff auf das übergeordnete Werk: | IEEE transactions on pattern analysis and machine intelligence |
| Schlagworte: | Journal Article |
| Zusammenfassung: | This paper presents a method of structuring the free space of a roving robot's environment into a set of overlapping convex regions ideally suited to path planning and navigation tasks. The structure of the free space environment is maintained as a hypergraph with each convex region represented by a hyperedge identifying the boundary walls of the region. A new methodology reveals the structure of free space and constructs the hypergraph representation through a directed search for a set of fundamental circits in an abstract graphical representation of the environment geometry |
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| Beschreibung: | Date Completed 02.10.2012 Date Revised 12.11.2019 published: Print Citation Status PubMed-not-MEDLINE |
| ISSN: | 1939-3539 |