Fast k-Nearest Neighbor on a Navigation Mesh

Proceedings of the International Symposium on Combinatorial Search, 11

Volume

Vol. 11 No. 1 (2018): Eleventh Annual Symposium on Combinatorial Search

Full Papers

We consider the k-Nearest Neighbour problem in a two-dimensional Euclidean plane with obstacles (OkNN). Existing and state of the art algorithms for OkNN are based on incremental visibility graphs and as such suffer from a well known disadvantage: costly and online visibility checking with quadratic worst-case running times. In this work we develop a new OkNN algorithm which avoids these disadvantages by representing the traversable space as a collection of convex polygons; i.e. a Navigation Mesh. We then adapt an recent and optimal navigation mesh algorithm, Polyanya, from the single-source single-target setting to the the multi-target case. We also give two new heuristics for OkNN. In a range of empirical comparisons we show that our approach can be orders of magnitude faster than competing methods that rely on visibility graphs.

10.1609/socs.v9i1.18457