Multiresolution Path Planning for Mobile Robots,
MARYLAND UNIV COLLEGE PARK CENTER FOR AUTOMATION RESEARCH
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The problem of automatic collision-free path planning is central to mobile robot applications. This report presents an approach to automatic two dimensional path planning based on a quadtree representation. A quadtree is a recursive decomposition of a 2-D picture into uniformly colored sub i X 2 sub i blocks. The authors introduce hierarchical path searching methods, which make use of this multiresolution representation, to speed up the path planning process considerably. Finally, we discuss the applicability of this approach to mobile robot path planning. Additional keywords Path planning algorithms Computer vision.
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- Computer Hardware