Scanline Processing Approach To Robot Path Planning Using Overlapping Convex Free Regions

Ken Hughes; Alade Tokuta

doi:10.1117/12.969802

1 March 1990 Scanline Processing Approach To Robot Path Planning Using Overlapping Convex Free Regions

Ken Hughes, Alade Tokuta

Proceedings Volume 1193, Intelligent Robots and Computer Vision VIII: Systems and Applications; (1990) https://doi.org/10.1117/12.969802
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States

Abstract

The problem of finding a path for a mobile robot in two dimensions among stationary obstacles is examined, using a free space graph representation of the robot's workspace. One problem with solutions of this type has been the time it takes to construct a graph from the image of the workspace. Our solution seeks to resolve this situation by constructing the graph representation "on the fly" in a scanline fashion by processing the image one line at a time from top to bottom. One module breaks the obstacles in the image into pseudo obstacles; another module analyzes the pseudo obstacles and locates maximal overlap regions (MOvs) of prime convex regions (PCRs) in the free space; a third constructs a graph representation utilizing the MOvs and PCRs as nodes and edges respectively. The modularity lends itself toward pipelined processing to reach the solution.

Citation Download Citation

Ken Hughes and Alade Tokuta "Scanline Processing Approach To Robot Path Planning Using Overlapping Convex Free Regions", Proc. SPIE 1193, Intelligent Robots and Computer Vision VIII: Systems and Applications, (1 March 1990); https://doi.org/10.1117/12.969802

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