Abstract
In this work wo present a hierarchical algorithm to evaluate the configuration space of a mobile robot. It is based on convolution of discrete functions that represents the workspace and the robot to obtain a function that represents the C-space. An important aspect is that the representation of discrete functions is made by hierarchical data structures, so the information is highly compact, and high dimensions or/and resolutions workspaces can be considered. It is important to highlight that no only hierarchical data structures are used to the representation, but no other intermediate structures are used for the representation in the algorithm execution. Also, as the algorithm is hierarchical, calculations at high resolutions are performed only in those regions where it is necessary.
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