%0 Journal Article
	%A In-Geun Lim and  Jin-Soo Kim and  Chirl-Hwa Lee
	%D 2009
	%J International Journal of Computer and Information Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 33, 2009
	%T A Valley Detection for Path Planning
	%U https://publications.waset.org/pdf/4208
	%V 33
	%X 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.
	%P 2186 - 2189