Multivalue coding: application to autonomous robot path planning with rotations

Abstract

An application of the multivalue codes representing the free configuration space of a mobile robot with purely translational and rotational motions is described. Starting with a binary array, the multivalue codes define a collection of cells representing free space rectangles (in 2-D) and include the location and the size. The authors propose the use of multivalue coding to represent the 2-D free environment to which a third dimension is added to code the intervals of validation according to the rotation angle of the robot.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>