Low-cost implementation of distance maps for path planning using matrix quadtrees and octrees

摘要: Abstract Hierarchical tree representations are used for computing and representing distance maps in homogeneous or weighted 2D 3D environments. It is shown that the matrix forms of quadtree octree descriptions proper storing not only image spatial data but also data. Distance collision-free path planning environments with static obstacles. The resulting sequences free-region quadrants octants enable to compute distance-optimized paths chosen resolution level. More illustrative examples included analyzed workspaces.