Adaptive morphology shortest path planning based on rotating object and critical transition point

This paper presents a general approach to find the shortest path for a general moving object with rotation and forwardhackward movement among obstacles of ahitrary shapes. We call the object of finding a shortest path as path planning. By utilizing the cmcept of the critical transition point and adaptive path planning, finding a shortest path problem of car-like vehlcles becomes more practical. Moreover, additional efficiency in routing can be db tained since the critical transition point is used in the confguration space. Notice that the computatioml complexity is not ncreased. A car-like vehicle model with forwardhackward driving and turning mechanism is used to validate the performance of the proposed algorithms. Simulation results show that not only the proposed algorithms are successful in various environments, but also these algorithms have good efficiency in computation. Moreover, routing is gained by the help of morphological hory.