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 language | English |
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Article number | 638 |
Journal | Applied Sciences (Switzerland) |
Volume | 9 |
Issue number | 4 |
DOIs | |
State | Published - 14 Feb 2019 |
Keywords
- Curvilinear obstacle
- Douglas-peuker polygonal approximation
- Mobile robot
- Opposite angle-based exact cell decomposition
- Path planning