Multiresolution path planning for mobile robots
Subbarao Kambhampati, L.S. Davis · IEEE Journal on Robotics and Automation · 1986
The problem of automatic collision-free path planning is central to mobile robot applications. An approach to automatic path planning based on a quadtree representation is presented. Hierarchical path-searching methods are introduced, which make use of this multiresolution representation, to speed up the path planning process considerably. The applicability of this approach to mobile robot path planning is discussed.