A Valley Detection For Path Planning

In-Geun Lim, Jin-Soo Kim, Chirl-Hwa Lee
2009 Zenodo  
This paper presents a constrained valley detection algorithm. The intent is to find valleys in the map for the path planning that enables a robot or a vehicle to move safely. The constraint to the valley is a desired width and a desired depth to ensure the space for movement when a vehicle passes through the valley. We propose an algorithm to find valleys satisfying these 2 dimensional constraints. The merit of our algorithm is that the pre-processing and the post-processing are not necessary
more » ... eliminate undesired small valleys. The algorithm is validated through simulation using digitized elevation data.
doi:10.5281/zenodo.1331723 fatcat:g5flnlckifamlpodnd76enwbc4