Triangulation Guided High Clearance Collision-Free Paths

Algorithms dealing with the construction of high clearance collision-free paths in the presence of polygonal obstacles is an important problem in robotics and transportation engineering. Method of extracting collision-free paths guided by triangulation of free space is examined. Two algorithms for improving the standard triangulation guided algorithms are presented. The time complexities of the presented algorithms are analysed. Finally, further applications of the proposed techniques are discussed.