By Topic

Using hypergraph knowledge representation for natural terrain robot navigation and path planning

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
R. E. Fayek ; Syst. Design Eng., Waterloo Univ., Ont., Canada ; A. K. C. Wong

Rapidly changing requirements in manufacturing and robotics require efficient automated planning systems. In this paper, we present a method to acquire and exploit domain-knowledge. We use two examples of knowledge-extensive contexts; outdoor terrain robot navigation and mission planning. We represent the acquired sensory 3D data by triangular terrain meshes. Application independent features are automatically extracted from these and converted into symbolic entities suitable for reasoning. Their topological relations are then organized into attributed graphs. Higher-order, application dependent relations are captured by hyper-edges in attributed hypergraphs. The symbolic relations inducing hyperedges are used as the basis of symbolic reasoning operations. The resulting compact hypergraph representation of the raw data facilitates complex navigation and mission planning tasks. Domain-knowledge is thus captured in a flexible form and used to reduce the search for feasible paths

Published in:

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference:

22-28 Apr 1996