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