Issue No. 02 - February (1987 vol. 9)
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.
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. , pp. 263-273, February 1987, doi:10.1109/TPAMI.1987.4767900