Multiresolution Path Planning for Mobile Robots

Subbarao Kambhampati, Larry S. Davis

Research output: Contribution to journalArticlepeer-review

286 Scopus citations


The problem of automatic collision-free path planning is central to mobile robot applications. An approach to automatic path planning based on a quadtree representation is presented. Hierarchical path-searching methods are introduced, which make use of this multiresolution representation, to speed up the path planning process considerably. The applicability of this approach to mobile robot path planning is discussed.

Original languageEnglish (US)
Pages (from-to)135-145
Number of pages11
JournalIEEE Journal on Robotics and Automation
Issue number3
StatePublished - Sep 1986
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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