NDLI: Natural decomposition of free space for path planning

Content Provider	IEEE Xplore Digital Library
Author	Kuan, D. Zamiska, J. Brooks, R.
Copyright Year	1985
Description	Author affiliation: FMC Corporation, Coleman Avenue, Santa Clara, CA (Kuan, D.)
Abstract	This paper describes an algorithm that decomposes the free space into nonoverlapping geometric-shaped primitives suitable for path planning. Given a set of polygonal obstacles in space, the algorithm first decomposes concave obstacles into connecting convex obstacles in order to have a uniform obstacle representation, which facilitates later processing. The neighborhood relations among these Convex obstacles are identified and then used to locate critical "channels" and "passage regions" in the free space, and to localize the influence of obstacles on free space description. The free space is then decomposed into nonoverlapping geometric-shaped primitives where channels connect passage regions. The channels are similar to the generalized cones presented in Brooks [1]. The passage regions are represented as convex polygons. Based on this mixed representation of free space, the path planning algorithm can plan path trajectories inside the channels and passage regions. The perimeter of the channels and passage regions associated with the planned path provides the boundaries of the path that the mobile robot must stay within during path execution.
Starting Page	168
Ending Page	173
File Size	1229687
Page Count	6
File Format	PDF
DOI	10.1109/ROBOT.1985.1087309
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1985-03-25
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Path planning Space technology Mobile robots Shape Laboratories Artificial intelligence Joining processes Trajectory Robotics and automation Space exploration
Content Type	Text
Resource Type	Article

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