%0 Journal Article
%T Quotient Space Representation of Path-Planning Problems<br>路径规划问题的商空间表达
%A Shen Lincheng
%A Chang Wensen
%A <br>沈林成
%A 常文森
%J 自动化学报
%D 1995
%I 
%X This paper explores the quotient space representation of path-planning problems and its structure characterisation in unstructured environment by employing the theory of computational geometry, discusses the equivalent relation among optimal-paths and the basic ideology of quotient space approach, and develops a recursive construction algorithm of quotient space particularly for a unstructured environment associated with obstacles in homogeneous-cost background terrain. This method can be extended to the n-dimension space.
%K Path-planning
%K quotient space
%K optimal-path table
%K Voronoi figure<br>路径规划
%K 商空间
%K 最优路径表
%K Voronoi图
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=DA1630215F0F1BC4A8AEF46517619A95&yid=BBCD5003575B2B5F&vid=659D3B06EBF534A7&iid=B31275AF3241DB2D&sid=A586B761C9AA2FAA&eid=4D0B71A09FA5A2A5&journal_id=0254-4156&journal_name=自动化学报&referenced_num=0&reference_num=0