Expanded Douglas-Peucker polygonal approximation and opposite angle-based exact cell decomposition for path planning with curvilinear obstacles

Jin Woo Jung, Byung Chul So, Jin Gu Kang, Dong Woo Lim, Yunsik Son

Research output: Contribution to journalArticlepeer-review

27 Scopus citations

Abstract

The Expanded Douglas-Peucker (EDP) polygonal approximation algorithm and its application method for the Opposite Angle-Based Exact Cell Decomposition (OAECD) are proposed for the mobile robot path-planning problem with curvilinear obstacles. The performance of the proposed algorithm is compared with the existing Douglas-Peucker (DP) polygonal approximation and vertical cell decomposition algorithm. The experimental results show that the path generated by the OAECD algorithm with EDP approximation appears much more natural and efficient than the path generated by the vertical cell decomposition algorithm with DP approximation.

Original languageEnglish
Article number638
JournalApplied Sciences (Switzerland)
Volume9
Issue number4
DOIs
StatePublished - 14 Feb 2019

Keywords

  • Curvilinear obstacle
  • Douglas-peuker polygonal approximation
  • Mobile robot
  • Opposite angle-based exact cell decomposition
  • Path planning

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