Learning Obstacle-Avoiding Lattice Paths using Swarm Heuristics: Exploring the Bijection to Ordered Trees
This work addresses efficient path planning in discrete maps, which is incremental as it applies existing swarm heuristics to a new bijection-based scheme.
The paper tackled the problem of generating collision-free lattice paths for navigation in discrete maps by leveraging a bijection to rooted ordered trees, which reduces the search to one dimension. Computational studies with ten swarm heuristics demonstrated practical feasibility and efficiency in handling obstacles with convex and non-convex geometry.
Lattice paths are functional entities that model efficient navigation in discrete/grid maps. This paper presents a new scheme to generate collision-free lattice paths with utmost efficiency using the bijective property to rooted ordered trees, rendering a one-dimensional search problem. Our computational studies using ten state-of-the-art and relevant nature-inspired swarm heuristics in navigation scenarios with obstacles with convex and non-convex geometry show the practical feasibility and efficiency in rendering collision-free lattice paths. We believe our scheme may find use in devising fast algorithms for planning and combinatorial optimization in discrete maps.