Hierarchical path planning with hexagonal decomposition

Edwin S.H. Hou, Dan Zheng

Research output: Contribution to journalConference articlepeer-review

7 Scopus citations


A new algorithm based on an artificial potential field and hierarchical cell decomposition technique is developed to solve the find-path problem for a mobile robot. The basic cell structure used for decomposition is a hexagon. The artificial potential field is based on an attractive force from the goal position and repelling forces from the obstacles. Computer simulations of the algorithm for various obstacle scenarios are also presented.

Original languageEnglish (US)
Pages (from-to)1005-1010
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
StatePublished - 1991
EventConference Proceedings of the 1991 IEEE International Conference on Systems, Man, and Cybernetics - Charlottesville, VA, USA
Duration: Oct 13 1991Oct 16 1991

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Hardware and Architecture


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