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

격자화된 공간상에서 4중-나무 구조를 이용한 가시성 검사를 바탕으로 한 새로운 경로 계획 알고리즘과 그 개선 방안들

  • 김정태 (포항공과대학교 컴퓨터공학과, 생체인식연구센터) ;
  • 김대진 (포항공과대학교 컴퓨터공학과, 생체인식연구센터)
  • Published : 2010.01.01


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.


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