A Modular and Less Complex Environment Representation Algorithm
I. Manteghl, Michael R. M. Jenkin, A.A. Goldenberg · 1998
The purpose of environment representation is to map 1 State Transition Matrix the external real-world of the robot (workspace) and its evolution to an internal data structure usable by the motion planning algorithm. This operation is essential in the development of goal-attaining (complete) motion commands for an autonomous robot. lr ii) is capable of handling exact geometries so that no geometric approximation is required; iii) requires less memory for data storage than commonly used methods of environment representation; and iv) is cornputationally less complex than the existing methods of representation. Herein, the process of environment representation is carried out in two stages, as described in sections below.