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http://dx.doi.org/10.5302/J.ICROS.2010.16.1.048

New Path Planning Algorithm based on the Visibility Checking using a Quad-tree on a Quantized Space, and its improvements  

Kim, Jung-Tae (포항공과대학교 컴퓨터공학과, 생체인식연구센터)
Kim, Dai-Jin (포항공과대학교 컴퓨터공학과, 생체인식연구센터)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.16, no.1, 2010 , pp. 48-52 More about this Journal
Abstract
In this paper, we introduce a new path planning algorithm which combines the merits of a visibility graph algorithm and an adaptive cell decomposition. We quantize a given map with empty cells, blocked cells, and mixed cells, then find the optimal path on the quantized map using a visibility graph algorithm. For reducing the number of the quantized cells we use the quad-tree technique which is used in an adaptive cell decomposition, and for improving the performance of the visibility checking in making a visibility graph we propose a new visibility checking method which uses the property of the quad-tree instead of the well-known rotational sweep-line algorithm. For the more efficient visibility checking, we propose two additional improvements for our suggested method. Both of them are used for reducing the visited cells in the quad-tree. The experiments for a performance comparison of our algorithm with other well-known algorithms show that our proposed method is superior to others.
Keywords
path-planning; visibility graph; adaptive cell decomposition; quad-tree;
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