Heuristic Traversal Of A Free Space Graph

Peter D. Holmes; Erland Jungert

doi:10.1117/12.948963

5 January 1989 Heuristic Traversal Of A Free Space Graph

Peter D. Holmes, Erland Jungert

Proceedings Volume 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation; (1989) https://doi.org/10.1117/12.948963
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

In order to plan paths within a physical working space, effective data structures must be used for spatial representation. A free space graph is a data structure derived from a systematic decomposition of the unobstructed portions of the working space. For the two-dimensional case, this work describes an heuristic method for traversal and search of one particular type of free space graph. The focus herein regards the "dialogue" between an A* search process and an inference engine whose rules employ spatial operators for classification of local topologies within the free space graph. This knowledge-based technique is used to generate plans which describe admissible sequences of movement between selected start and goal configurations.

Citation Download Citation

Peter D. Holmes and Erland Jungert "Heuristic Traversal Of A Free Space Graph", Proc. SPIE 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation, (5 January 1989); https://doi.org/10.1117/12.948963

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available