Forward and backward chain-code representation for motion planning of cars

Frank Y. Shih, Y. I.T.A. Wu, Brian L.C. Chen

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


The path-planning problem is presented to show a car of any desired shape moving from a starting position to a destination in a finite space with arbitrarily shaped obstacles in it. In this paper, a new chain-code representation is developed to record the motion path when forward and backward movements are allowed. By placing the smooth turning-angle constraint, we can obtain more realistic results to the actual motion of cars. Meanwhile, by combining rotational mathematical morphology and distance transformation, we can obtain the shortest collision-free path. As soon as the distance map and the collision-free codes have been established offline, the shortest paths of cars starting from any location toward the destination can be promptly obtained online. Experimental results show that our algorithm works successfully in different conditions. We also extend our algorithm to the automated parallel parking and three-dimensional path planning.

Original languageEnglish (US)
Pages (from-to)1437-1451
Number of pages15
JournalInternational Journal of Pattern Recognition and Artificial Intelligence
Issue number8
StatePublished - Dec 2004

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition


  • Chain code
  • Distance transformation
  • Mathematical morphology
  • Motion planning
  • Shortest path planning


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