REDUCED AND IMPROVED VISIBILITY GRAPH FOR ROBOT PATH PLANNING

The objective of the project is to apply the Visibility Graph (VG) for robot path planning and attempt to improve it. We implemented Visibility Graph in multiple scenarios environments. The environments have different obstacles numbers and shapes. We analyze the times elapsed and the total distant. We improved it by reducing the number of the edges and recorded the time and the distant as it shows in table 2. We used Reduced Visibility Graph (RVG) such as the Edge Removal Methodology, and some manual removal functions in MATLAB. We Implemented the Tangent Graph method and finally compared all the methods based on the simulation on MATLAB.