Algorithm for computing a collision-free path in the free space - M.deBerg et.al., Computational Geometry


CINDERELLA GRAPHS DEPICTING ALGORITHM FOR COMPUTING A COLLISION FREE PATH
Trapezoidal Map Composition
Determining Forbidden and Free Space
Adding Nodes and Computing Paths

 

 

 

 

 

 


The trapezoidal map T(E) obtained by drawing two vertical extensions from every segment endpoint, and going upqard until a segment (or bounding box) is hit, and one going downward until a segment (or bounding box) is hit.
Please enable Java for an interactive construction (with Cinderella).