@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},
	}