School of Astronautics, Harbin Institute of Technology Harbin, Heilongjiang, China

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Abstract—This paper proposes a new path planning system combining framed-quadtree representation with the reversed D* algorithm to improve the efficiency of path planning. The utilization of framed-quadtree representation is for improving the decomposed efficiency of the environment and maintaining the representation capability of maps. And the feature of reversed D* algorithm is that it does not need to calculate the value of the goal distance. The core of reversed D* algorithm is to use the “robot distance” to establish the local potential field, which realizes dynamic optimization by the way of search “escaping point” as the middle goal location. The theoretical analyzing and studying simulation results to the proposed method demonstrate that the proposed path planning system has potential.

Index Terms—IMR, framed-quadtree, reversed D*, work space.

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Cite: Qi Zhang, Jiachen Ma, Wei Xie, "A Framed-quadtree based on Reversed D* Path Planning Approach for Intelligent Mobile Robot," Journal of Computers vol. 7, no. 2, pp. 464-469, 2012.