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Expanded Douglas-Peucker Polygonal Approximation and Opposite Angle-Based Exact Cell Decomposition for Path Planning with Curvilinear Obstaclesopen access
- Issue Date
- 2-Feb-2019
- Publisher
- MDPI
- Keywords
- curvilinear obstacle; douglas-peuker polygonal approximation; opposite angle-based exact cell decomposition; path planning; mobile robot
- Citation
- APPLIED SCIENCES-BASEL, v.9, no.4
- Indexed
- SCIE
SCOPUS
- Journal Title
- APPLIED SCIENCES-BASEL
- Volume
- 9
- Number
- 4
- ISSN
- 2076-3417
2076-3417
- 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.
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Related Researcher
- Son, Yun Sik
- College of Advanced Convergence Engineering (Department of Computer Science and Artificial Intelligence)