Abstract
We present a high-speed planning method with compact precompiled search trees using a new pruning method, the maximum size pruning method (MSP) and the node selection strategy (NSS) and evaluate the effectiveness and the efficiency of our precomputation planning. Its speed is faster than an A^* planner in maps in which the obstacle rate is the same as indoor environments. In maps less than 30% obstacle rates on a map, the runtime of precomputation planning is more than one order of magnitude faster than the planning without precomputed search trees. Our precomputed tree finds a optimal path in maps with 25% obstacle rates. Then our precomputation planning; speedilv produces the optimal path in indoor environments.
