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Global Path Planning Algorithm in a Two-Dimensional Environment with Polygonal Obstacles on the Class of Piecewise Polygonal Trajectories

Vladimir Kostyukov Mikhail Medvedev Viacheslav Pshikhopov

无人系统（英文）2025，Vol.13Issue(3)：689-707,19.

无人系统（英文）2025，Vol.13Issue(3)：689-707,19.DOI:10.1142/S2301385025500438

Global Path Planning Algorithm in a Two-Dimensional Environment with Polygonal Obstacles on the Class of Piecewise Polygonal Trajectories

Vladimir Kostyukov ¹Mikhail Medvedev ¹Viacheslav Pshikhopov¹

作者信息

1. R&D Institute of Robotics and Control Systems,Southern Federal University,105/42 Bolshaya Sadovaya Str.,Rostov-on-Don 344006,Russia
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摘要

关键词

Path planning/polygonal obstacles/bug algorithm/characteristic visibility graph

Key words

Path planning/polygonal obstacles/bug algorithm/characteristic visibility graph

引用本文复制引用

Vladimir Kostyukov,Mikhail Medvedev,Viacheslav Pshikhopov..Global Path Planning Algorithm in a Two-Dimensional Environment with Polygonal Obstacles on the Class of Piecewise Polygonal Trajectories[J].无人系统（英文）,2025,13(3):689-707,19.

基金项目

The research was supported by the Russian Science Foun-dation Grant No.24-29-00492"Development of methods of optimal task allocation in a group of mobile robotic sys-tems",https://rscf.ru/project/24-29-00492/on the basis of JSC"Scientific Bureau of Robotics and Control Systems". （）

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