Planning algorithm for a convex polygonal object in two-dimensional polygonal space
Discrete & Computational Geometry
The visibility--voronoi complex and its applications
SCG '05 Proceedings of the twenty-first annual symposium on Computational geometry
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In path planning, it is often more practical to evaluate the quality of a path not only on the basis of its length but also on the clearance from obstacles. In this paper, we propose computational geometry methods to compute the shortest path with a user-specified minimum clearance between two points in the plane in the presence of disjoint, simple, polygonal obstacles. The algorithm has time complexity O(nlogn) where n is a multiple of the number of obstacle vertices. By setting the minimum clearance to zero, we demonstrate that our algorithm can provide a high quality approximation of the shortest path between source and destination points.