Title :
Robot motion path planning in time-varying environment using quadtree data structure and parallel processing
Author :
Celenk, Mehmet ; Bohora, Anil
Author_Institution :
Dept. of Electr. & Comput. Eng., Ohio Univ., Athens, OH, USA
Abstract :
A time-efficient algorithm for robot visual guidance in a dynamic environment using a quadtree data structure and parallel processing is described. The results of motion analysis are used for the selection of the best path. Visual guidance is achieved by solving the equation of the path and the equations of the motion of the obstacles for collision points. The underlying motion equations are obtained using the Lagrange interpolation formula. Image processing and visual guidance are performed on a 16-node attached hypercube array processor by exploiting the inherent parallelism, problem regularity, and data locality of the low-level vision operators and motion equations.<>
Keywords :
algorithm theory; computer vision; computerised picture processing; control engineering computing; data structures; interpolation; mobile robots; parallel processing; position control; trees (mathematics); Lagrange interpolation; hypercube array processor; image processing; motion analysis; parallel processing; path planning; quadtree data structure; robot visual guidance; time-efficient algorithm; Algorithms; Data structures; Image processing; Interpolation; Machine vision; Mobile robots; Parallel processing; Position control; Trees (graphs);
Conference_Titel :
Systems Engineering, 1989., IEEE International Conference on
Conference_Location :
Fairborn, OH, USA
DOI :
10.1109/ICSYSE.1989.48680
