Watershed Graphs for Faster Path Planning in Binary Occupancy Grids

Authors

  • Patrick Chisan Hew Australian Defence Science and Technology Group

Abstract

We speed up path planning in binary occupancy grids by using the watershed transform to construct a ‘watershed graph’ of the terrain’s topology, thereby cueing the path planner via a heuristic for the search, setting subgoals, or declaring cells to be blocked. Experiments with A*, Theta*, and Phi* showed that the time invested in constructing the watershed graph can be recovered when repeatedly planning paths through the same terrain, or planning paths over longer distances. Speedup factors exceeding 5× were obtained with only modest inflations in path length. This article will help developers and users of path planners who are looking to reduce runtime without disrupting their algorithm architecture.

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Published

2020-10-01

How to Cite

Hew, P. (2020). Watershed Graphs for Faster Path Planning in Binary Occupancy Grids. Proceedings of the AAAI Conference on Artificial Intelligence and Interactive Digital Entertainment, 16(1), 74-80. Retrieved from https://ojs.aaai.org/index.php/AIIDE/article/view/7410