Piecewise linear cost propagation for path searching

摘要

The problem of searching for a low cost path from a source location to a target location through a traversable region partitioned into a plurality of tiles is solved using source and target cost functions. Each tile in the traversable region is defined by boundary segments. The source cost function provides a cost for traversing from the source location to the boundary segment in question. The target cost function provides a cost for traversing from the boundary segment in question to the target location. The target cost function is estimated, and the source cost function is calculated. A path cost function is determined by adding the source and target cost functions. If the target location is a tile, then the target cost may be estimated using a convex hull of the target tile and the boundary segment in question. To facilitate the cost function calculations, multiple forms of cost function propagation between segments are disclosed.