Abstract
This paper describes a free space modeling method by multivalue coding. Each code defines some numerical values representing a set of grid cells. The idea consists of using the grid as a Karnaugh board which rows and columns are binary coded rather Gray coded.This operating method allows to define, for each code, its grid location and allows numerical comparison in order to locate a code relatively to an other.This aspect is helpfull for path planning. The free space model is with a switching function or a tree represented to which boolean algebra rules and mathematic operations are applied. We describe an application to mobile robot path planning
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