An Efficient Solution to the 2D Visibility Problem in Cartesian Grid Maps and its Application in Heuristic Path Planning
Ibrahim Ibrahim,Joris Gillis,Wilm Decré,Jan Swevers,Ibrahim Ibrahim,Joris Gillis,Wilm Decré,Jan Swevers
This paper introduces a novel, lightweight method to solve the visibility problem for 2D grids. The proposed method evaluates the existence of lines-of-sight from a source point to all other grid cells in a single pass with no preprocessing and independently of the number and shape of obstacles. It has a compute and memory complexity of $\mathcal{O}(n)$, where n = nx ×ny is the size of the grid, a...
