@article{(Open Science Index):https://publications.waset.org/pdf/4208, title = {A Valley Detection for Path Planning}, author = {In-Geun Lim and Jin-Soo Kim and Chirl-Hwa Lee}, country = {}, institution = {}, abstract = {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 to eliminate undesired small valleys. The algorithm is validated through simulation using digitized elevation data.}, journal = {International Journal of Computer and Information Engineering}, volume = {3}, number = {9}, year = {2009}, pages = {2186 - 2189}, ee = {https://publications.waset.org/pdf/4208}, url = {https://publications.waset.org/vol/33}, bibsource = {https://publications.waset.org/}, issn = {eISSN: 1307-6892}, publisher = {World Academy of Science, Engineering and Technology}, index = {Open Science Index 33, 2009}, }