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One Way to Fill All the Concave Region in Grid-Based Map

Published online by Cambridge University Press:  10 September 2020

ZiYing Zhang,
Xu YangOpen the ORCID record for Xu Yang[Opens in a new window],
Dong XuOpen the ORCID record for Dong Xu[Opens in a new window],
Ke Geng,
YuLong Meng and
GuangSheng Feng
ZiYing Zhang
Affiliation:
College of Computer Science and Technology, Harbin Engineering University, Harbin, China
Xu Yang
Affiliation:
College of Computer Science and Technology, Harbin Engineering University, Harbin, China
Dong Xu*
Affiliation:
College of Computer Science and Technology, Harbin Engineering University, Harbin, China
Ke Geng
Affiliation:
College of Computer Science and Technology, HeiLongJiang Institution of Technology, Harbin, China
YuLong Meng
Affiliation:
College of Computer Science and Technology, Harbin Engineering University, Harbin, China
GuangSheng Feng
Affiliation:
College of Computer Science and Technology, Harbin Engineering University, Harbin, China
*
*Corresponding author. E-mail: xudong@hrbeu.edu.cn
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Summary

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The search space of the path planning problem can greatly affect the running time and memory consumption, for example, the concave obstacle in grid-based map usually leads to the invalid search space. In this paper, the filling container algorithm is proposed to alleviate the concave area problem in 2D map space, which is inspired from the scenario of pouring water into a cup. With this method, concave areas can be largely excluded by scanning the map repeatedly. And the effectiveness has been proved in our experiments.

Keywords

Path planningConcave obstaclesFilling containerFC algorithmGrid-based map.

Information

Type
Articles
Information
Robotica , Volume 39 , Issue 5 , May 2021, pp. 928 - 944
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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