Volume 13 Issue 6
Nov.  1991
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SHI Zhibai. STRUCTURE BASED FREE-GRID METHOD FOR MOBILE ROBOT ENVIRONMENT MODELLING[J]. ROBOT, 1991, 13(6): 22-25,39.
Citation: SHI Zhibai. STRUCTURE BASED FREE-GRID METHOD FOR MOBILE ROBOT ENVIRONMENT MODELLING[J]. ROBOT, 1991, 13(6): 22-25,39.

STRUCTURE BASED FREE-GRID METHOD FOR MOBILE ROBOT ENVIRONMENT MODELLING

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  • Received Date: April 15, 1990
  • Published Date: November 14, 1991
  • Synthesizing the main ideas of regular grid modelling and free-space modelling, a structure basedfree-grid method is proposed to definitively the overcome opationality of imaginary boundaries generation in the process of free-space segmentation according to environment structural data and hence theuncertainty of the path is eliminated. Furthermore, the structure based free-grid model can be used toavoid'making a big detour, during the path planning to some extent.

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