Multi-Scale Cell Decomposition for Path Planning using Restrictive Routing Potential Fields

In burgeoning domains, like urban goods distribution, the advent of aerial cargo transportation necessitates the development of routing solutions that prioritize safety. This paper introduces Larp, a novel path planning framework that leverages the concept of restrictive potential fields to forge routes demonstrably safer than those derived from existing methods. The algorithm achieves it by segmenting a potential field into a hierarchy of cells, each with a designated restriction zone determined by obstacle proximity. While the primary impetus behind Larp is to enhance the safety of aerial pathways for cargo-carrying Unmanned Aerial Vehicles (UAVs), its utility extends to a wide array of path planning scenarios. Comparative analyses with both established and contemporary potential field-based methods reveal Larp's proficiency in maintaining a safe distance from restrictions and its adeptness in circumventing local minima.