Heuristic Approach to the Path Planning Problem in a Raster Map

摘要

This report describes a method of finding an obstacle-free, reasonably short (notshortest) path between two locations in an image. The method operates directly on a binary image, and uses a set of 17 heuristic rules. The results of the method were compared with the results of a graph-based method that guarantees that it is the shortest path that is generated. The work was implemented in the Common Lisp language, on a Texas Instruments Explorer Lisp machine.