Canadian Conference on Electrical and Computer Engineering, 2005.
Path planning is the problem of finding the lowest-cost path between two endpoints in a weighted graph. An optimal algorithm, such as A £ , is guaranteed to return the lowest-cost path. However, the computational expense of A £ is high on a class of graphs called terrains, motivating the development of approximate algorithms such as HTAP (the Hierarchical Terrain representation for Approximate Paths). HTAP has computational cost linear in path length, rather than A £ 's quadratic complexity,doi:10.1109/ccece.2005.1557014 fatcat:sd7r7jgf6nd5vofbgkpkzovpq4