Virtual Stretched String: An Optimal Path Planning Technique over Polygonal Obstacles

Authors:
Agniva Sengupta;Ranjit Ray;S. N. Shome
Affiliations:
School of Mechatronics, CSIR-Central Mechanical Engineering Research Institute, Durgapur, India;Robotics & Automation Group, CSIR-Central Mechanical Engineering Research Institute, Durgapur, India;Robotics & Automation Group, CSIR-Central Mechanical Engineering Research Institute, Durgapur, India
Venue:
Proceedings of Conference on Advances In Robotics
Year:
2013

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Abstract

This paper describes an algorithm for path planning among polygonal obstacles that is safe and optimal in the 2D plane. The algorithm is a computational geometry based path planner but unlike existing path planners, the proposed approach works by simulating the physical property of an inextensible, frictionless string. The string has been modeled with certain constraints which lead to the determination of the shortest safe path between origin and goal points. This paper deals with the details of the proposed mechanism. The proposed technique has been successfully simulated and tested with suitable experiments.