Quotient Space Representation of Path-Planning Problems
路径规划问题的商空间表达

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.