A Framed-quadtree based on Reversed D* Path Planning Approach for Intelligent Mobile Robot

摘要

—This paper proposes a new path planning systemcombining framed-quadtree representation with thereversed D* algorithm to improve the efficiency of pathplanning. The utilization of framed-quadtree representationis for improving the decomposed efficiency of theenvironment and maintaining the representation capabilityof maps. And the feature of reversed D* algorithm is that itdoes not need to calculate the value of the goal distance. Thecore of reversed D* algorithm is to use the “robot distance”to establish the local potential field, which realizes dynamicoptimization by the way of search “escaping point” as themiddle goal location. The theoretical analyzing and studyingsimulation results to the proposed method demonstrate thatthe proposed path planning system has potential.