Mapping for Path Planning Using Maximal Empty Rectangles
Jinyoung Park, Andrew J. Sinclair · AIAA Guidance, Navigation, and Control (GNC) Conference · 2013
This study applies a new map representation, named R-map, to the pathplanning problem. The R-map is calculated as a reduced-element representation of a grid map. Grid maps express obstacles and free space with a binary representation for each cell. The concept of the R-map is to integrate free cells into the maximal empty rectangles by surveying the numbers in a grid map. By calculating the R-map, the number of free cells in the grid map is dramatically reduced and this accomplishes data reduction.