Title :
Multivalue coding: application to autonomous robot path planning with rotations
Author :
Pruski, A. ; Rohmer, S.
Author_Institution :
Lab. d´´Autom. et d´´Electron. Ind., Metz Univ., France
Abstract :
An application of the multivalue codes representing the free configuration space of a mobile robot with purely translational and rotational motions is described. Starting with a binary array, the multivalue codes define a collection of cells representing free space rectangles (in 2-D) and include the location and the size. The authors propose the use of multivalue coding to represent the 2-D free environment to which a third dimension is added to code the intervals of validation according to the rotation angle of the robot
Keywords :
computational geometry; mobile robots; planning (artificial intelligence); 2-D free environment; autonomous robot; binary array; computational geometry; free configuration space; mobile robot; multivalue codes; path planning; rotations; Arithmetic; Computational efficiency; Mobile robots; Multidimensional systems; Orbital robotics; Path planning; Robotics and automation; Service robots;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131664
