Towards an Efficient Use of Memory in Evaluation of Configuration Space of a Robot

Abstract In this work we present a new algorithm to perform the configuration space of a robot. Although it is based on convolution of matrixes of workspace and robot, the use of quadtree representationsfor them is introduced in order to obtain a quadtree representation of the C-space. Then, an efficient use of memory can be achieved because these representations compact highly the information. So, it can be used for workspaces with high dimensions or/and resolutions. As a first approach, in this paper it is presented for the use onamobile robot without rotations, although it can be applied to more complex situations.