Quadtree decomposition of configuration space for robot motion planning | IEEE Conference Publication | IEEE Xplore

Quadtree decomposition of configuration space for robot motion planning


Abstract:

This paper presents a method to solve the general problem of path planning in the field of robotics. For autonomous mobile robots the configuration space is given by an o...Show More

Abstract:

This paper presents a method to solve the general problem of path planning in the field of robotics. For autonomous mobile robots the configuration space is given by an occupancy matrix represented by a bitmap. Quadtree decomposition is used to decompose the configuration space in order to achieve a representation, which needs less memory than the original representation with a bitmap. A connectivity graph is generated from the decomposed configuration space using neighbour finding techniques. A final graph search yields a feasible path, e.g. a shortest path. Due to smaller data structures the search of the free space of the configuration space for a feasible path can be done much faster. The presented algorithms are implemented using C++. The results of simulations for typical environments together with execution times are presented.
Date of Conference: 31 August 1999 - 03 September 1999
Date Added to IEEE Xplore: 04 May 2015
Print ISBN:978-3-9524173-5-5
Conference Location: Karlsruhe, Germany

References

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