Exact Cell Decomposition
In this chapter we describe a second approach to motion planning, exact cell decomposition. The principle of this approach is to first decompose the robot’s free space C free into a collection of non-overlapping regions, called cells, whose union is exactly1 C free (or its closure). Next, the connectivity graph which represents the adjacency relation among the cells is constructed and searched. If successful, the outcome of the search is a sequence of cells, called a channel, connecting the cell containing the initial configuration to the cell containing the goal configuration. A path is finally extracted from this sequence.
KeywordsConnectivity Graph Curve Section Critical Curve Adjacency Relation Greatest Common Divisor
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