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In order to plan paths within a physical working space, effective data structures must be used for spatial representation. A free space graph is a data structure derived from a systematic decomposition of the unobstructed portions of the working space. For the two-dimensional case, this work describes an heuristic method for traversal and search of one particular type of free space graph. The focus herein regards the "dialogue" between an A* search process and an inference engine whose rules employ spatial operators for classification of local topologies within the free space graph. This knowledge-based technique is used to generate plans which describe admissible sequences of movement between selected start and goal configurations. |
