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Issue No.02 - February (1987 vol.9)
pp: 263-273
Kurt D. Rueb , Department of Systems Design Engineering, University of Waterloo, Waterloo, Ont. N2L. 3G1, Canada.
Andrew K. C. Wong , Department of Systems Design Engineering, University of Waterloo, Waterloo, Ont. N2L. 3G1, Canada.
ABSTRACT
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.
CITATION
Kurt D. Rueb, Andrew K. C. Wong, "Structuring Free Space as a Hypergraph for Roving Robot Path Planning and Navigation", IEEE Transactions on Pattern Analysis & Machine Intelligence, vol.9, no. 2, pp. 263-273, February 1987, doi:10.1109/TPAMI.1987.4767900
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