Abstract
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.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: IEEE Transactions on Pattern Analysis and Machine Intelligence
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
