Path Planning in Triangulations
نویسنده
چکیده
This paper presents in detail how the techniques described in my previous work [Kallmann et al., 2003] can be used for efficiently computing collision-free paths in a triangulated planar environment. The method is based on a dynamic Constrained Delaunay Triangulation (CDT) where constraints are the obstacles in the planar environment. The main advantage of relying on a triangulated domain is that the size of the adjacency graph used for searching paths is usually much smaller than in grid-based search methods. As a result much more efficient planning can be achieved.
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