Development of a sensor knowledge store using a Quadtree algorithm to support autonomous vehicle path planning

This paper presents a Quadtree algorithm which is one of the several possible methods that can be used to store an unknown amount of terrain data. The Quadtree algorithm is often used for visualizing large terrain. The Triangulated Irregular Network (TIN) method has been developed recently but it is difficult to make geographical operations such as neighbor finding, searching, and updating. The purpose of this paper is to show an easy way to implement these operations.