Adaptive occupancy grid

This paper presents the results of a study on the A* search algorithm applied to a two-dimensional map with obstacles. Since, in typical cases, A* is implemented on a map divided into cells of equal size, a scientific interest has lies in investigating the efficiency of this algorithm on a map with dynamically variable cell size. Such a map representation increases the ‘resolution’ of constructing a better trajectory near obstacles. For this purpose, the paper proposes an approach to representing the search space as a dynamic adaptive grid using a QuadTree structure.