Manipulator motion planning in the presence of obstacles and dynamic constraints
International Journal of Robotics Research
Optimal trajectory planning of manipulators with collision detection and avoidance
International Journal of Robotics Research
Path planning using a tangent graph for mobile robots among polygonal and curved obstacles
International Journal of Robotics Research
Optimal planning of a collision-free trajectory of redundant manipulators
International Journal of Robotics Research
The one-to-one shortest-path problem: an empirical analysis with the two-tree Dijkstra algorithm
Computational Optimization and Applications
Computational geometry in C
Practical programming in Tcl and Tk
Practical programming in Tcl and Tk
Handbook of discrete and computational geometry
Finding obstacle-avoiding shortest paths using implicit connection graphs
IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems
Three-dimensional Route Planning for Unmanned Aerial Vehicles in a Risk Environment
Journal of Intelligent and Robotic Systems
| Hi-index | 0.00 |
This manuscript presents a heuristic algorithm based on geometric concepts for the problem of finding a path composed of line segments from a given origin to a given destination in the presence of polygonal obstacles. The basic idea involves constructing circumscribing triangles around the obstacles to be avoided. Our heuristic algorithm considers paths composed primarily of line segments corresponding to partial edges of these circumscribing triangles, and uses a simple branch-and-bound procedure to find a relatively short path of this type. This work was motivated by the military planning problem of developing mission plans for cruise missiles, but is applicable to any two-dimensional path-planning problem involving obstacles.