Artificial Intelligence and Soft Computing: Behavioral ... - Arteimi.info

NW child B NE child 'C'
SW child 'D'
Fig. 24.8: The decomposition of the 2-D world map presented in fig. 24.7.
In the above decomposition the child 'E' has no obstacle in its square
region. So it is a free node and will not be decomposed further. It will remain
as a leaf node of the quadtree. The remaining children 'B', 'C', and 'D' have
some free space and some obstacle region; they will come under mixed
nodes. The quadtree developed up to this stage (fig. 24.9) is as follows. The
small square box under each node represents the status of the node. The white
box represents a free node. The gray box represents the obstacle node. The
box with hashed lines represents the mixed node. They have to be
decomposed further, and the decomposition is shown in the fig. 24.10
B
A
NW SW
NE SE
C D E
Fig. 24.9: The quadtree representation of the decomposition.
SE child 'E'