Abstract
A path planning method based on improved Framed-Quadtree is researched for mobile robot in this paper. Firstly, this paper analyzes drawbacks of the quadtree method and according to those, proposes the method which uses the framed-quadtree to model the search space. This method avoids the condition which is difficult to find the shortest path sometimes. Secondly, the storage structure of the framed-quadtree is improved by using pattern code method. Therefore, it saves the original storage space, improves the environment resolution and reduces the search time. Finally, the optimal path is found by using A* algorithm. The experimental results prove the correctness and validity of the method.
This work is partially supported by the Nationl Science Foundation of China (60775058) and the Key Project of China Ministry of Education(107028).
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Liu, C., Liu, W., Zhou, H., Wei, Z. (2008). Path Planning for Mobile Robot Based on Improved Framed-Quadtree. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_91
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DOI: https://doi.org/10.1007/978-3-540-88513-9_91
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88512-2
Online ISBN: 978-3-540-88513-9
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