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Multivalue coding: application to autonomous robots

Published online by Cambridge University Press:  09 March 2009

A. Pruski
A. Pruski
Affiliation:
Laboratoire d'Automatique et d'Electronique Industrielles, University of Metz, Ile du Saulcy, 57045 METZ Cedex 1 (France)
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Summary

The paper describes a free space modeling method by multivalue coding. Each code defines some numerical values representing a set of cells from a grid. The idea consists in using the grid as a Karnaugh board whose rows and columns are binary coded rather than 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 another. This aspect is helpful for path planning. The free space model is represented by a switching function or a tree to which boolean algebra rules and mathematic operations are applied. We describe an application to mobile robot path planning.

Keywords

ModelingPath planningMobile robotCoding
Type
Article
Information
Robotica , Volume 10 , Issue 2 , March 1992 , pp. 125 - 133
Copyright
Copyright © Cambridge University Press 1992

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