Searching for Shortest and Safest Paths Along Obstacle Common Tangents
This thesis describes a method for computing globally shortest paths for a point robot in a two-dimensional, orthogonal world composed of convex and concave polygons through the construction of obstacle common tangent visibility graphs. Visibility and intersection testing are based on the orientatio...
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| Language: | en_US |
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Monterey, California. Naval Postgraduate School
2014
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| Online Access: | http://hdl.handle.net/10945/43782 |