The K-framed quadtrees approach for path planning through a known environment

Rodrigues, Ana Rita Marques; Costa, Pedro; Lima, José

http://hdl.handle.net/10198/15559

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Authors

Rodrigues, Ana Rita Marques

Costa, Pedro

Lima, José

Abstract(s)

One of the most important tasks for a mobile robot is to navigate in an environment. The path planning is required to design the trajectory that generates useful motions from the original to the desired position. There are several methodologies to perform the path planning. In this paper, a new method of approximate cells decomposition, called K-Framed Quadtrees is present, to which the algorithm A â‹† is applied to determine trajectories between two points. To validate the new approach, we made a comparative analysis between the present method, the grid decomposition, quadtree decomposition and framed quadtree decomposition. Results and implementation specifications of the four methods are presented.

Keywords

Approximate cells decomposition K-Framed Quadtree Path planning

URI

http://hdl.handle.net/10198/15559

Citation

Rodrigues, Ana; Costa, Pedro; Lima, José (2018). The K-framed quadtrees approach for path planning through a known environment. Advances in Intelligent Systems and Computing. In ROBOT 2017: Third Iberian Robotics Conference. p. 49-59. ISBN 978-3-319-70832-4