Lattice paths are functional entities that model efficient navigation in discrete/grid maps. This paper presents a new scheme to generate collision-free lattice paths with utmost efficiency using the bijective property to rooted ordered trees, rendering a one-dimensional search problem. Our computational studies using ten state-of-the-art and relevant nature-inspired swarm heuristics in navigation scenarios with obstacles with convex and non-convex geometry show the practical feasibility and efficiency in rendering collision-free lattice paths. We believe our scheme may find use in devising fast algorithms for planning and combinatorial optimization in discrete maps.
翻译：Lattice 路径是以离散/格格图模式构建有效导航的功能实体。 本文展示了一种新办法, 利用两面属性来根植定线树,以最高效率生成无碰撞线条路径, 造成了一维的搜索问题。 我们的计算研究使用了十种最先进、 相关、 最先进、 自然驱动的群温湿度, 其导航场景中存在与 convex 和非 convex 几何学障碍, 表明在使无碰撞线条路成为无碰撞线条方面的实际可行性和效率。 我们相信, 我们的计算方法可能用于设计快速算法, 在离散地图中进行规划和组合优化。
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