A Framed-quadtree based on Reversed D* Path Planning Approach for Intelligent Mobile Robot
Qi Zhang, Jiachen Ma, Wei Xie · Journal of Computers · 2012
This paper proposes a new path planning system combining framed-quadtree representation with the reversed D * algorithm to improve the efficiency of path planning. The utilization of framed-quadtree representation is for improving the decomposed efficiency of the environment and maintaining the representation capability of maps. And the feature of reversed D * algorithm is that it does not need to calculate the value of the goal distance. The core of reversed D * algorithm is to use the “robot distance” to establish the local potential field, which realizes dynamic optimization by the way of search “escaping point” as the middle goal location. T he theoretical analyzing and studying simulation results to the proposed method demonstrate that the proposed path planning system has potential.