Visibility of disjoint polygons
Algorithmica
Ambiguities in Incremental Line Rastering
IEEE Computer Graphics and Applications
Path planning using a tangent graph for mobile robots among polygonal and curved obstacles
International Journal of Robotics Research
An algorithm for planning collision-free paths among polyhedral obstacles
Communications of the ACM
Voronoi diagram in optimal path planning
ISVD '07 Proceedings of the 4th International Symposium on Voronoi Diagrams in Science and Engineering
Real-Time Trajectory Generation for Mobile Robots
AI*IA '07 Proceedings of the 10th Congress of the Italian Association for Artificial Intelligence on AI*IA 2007: Artificial Intelligence and Human-Oriented Computing
Path Planning Based on Bézier Curve for Autonomous Ground Vehicles
WCECS '08 Proceedings of the Advances in Electrical and Electronics Engineering - IAENG Special Edition of the World Congress on Engineering and Computer Science 2008
Algorithm for computer control of a digital plotter
IBM Systems Journal
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In this paper, a novel method for robot navigation in dynamic environments, referred to as visibility binary tree algorithm, is introduced. To plan the path of the robot, the algorithm relies on the construction of the set of all complete paths between robot and target taking into account inner and outer visible tangents between robot and circular obstacles. The paths are then used to create a visibility binary tree on top of which an algorithm for shortest path is run. The proposed algorithm is implemented on two simulation scenarios, one of them involving global knowledge of the environment, and the other based on local knowledge of the environment. The performance are compared with three different algorithms for path planning.