Research Article
Escaping Depressions in LRTS Based on Incremental Refinement of Encoded Quad-Trees
Algorithm 2
Pseudocode of the algorithm to recursively build the quad-trees: BuildQuadtree(obstList, indexX, indexY, size).
(1) if isObstExist(obstList, index , index , size) true then | (2) Set the node state , and insert it into the hash table; | (3) else | (4) if isAllOccupied(obstList, index , index , size) true then | (5) Set the node state , and insert it into the hash table; | (6) else | (7) Set the node state , and insert it into the hash table; | (8) Generate four children, and assign newIndex , newIndex , ; | (9) for = 1 : 4 do | (10) BuildQuadtree(obstList, newIndexX[], newIndexY[], size) | (11) end | (12) end | (13) end |
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