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Structuring Free Space as a Hypergraph for Roving Robot Path Planning and Navigation
February 1987 (vol. 9 no. 2)
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.
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 and Machine Intelligence, vol. 9, no. 2, pp. 263-273, Feb. 1987, doi:10.1109/TPAMI.1987.4767900
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