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I am trying to develop an algorithm based on delaunay triangulation, fermat point, improved dijkstra's algorithm to implement robot motion planning. Currently I have covered delaunay triangulation and fermat point. I have started my work with Dijkstra's using Fibonacci heap. Currently I am working on polygonal shaped objects. Suppose if I want to include real life curved obstacles, how can I do so? Is there a way to approximate curvy obstacles to polygonal obstacles? Also if a project based on dynamically changing surroundings is to be incorporated, what are the basic ideas required, like what should be covered?

nikhs
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  • Of course you can convert curves in polygons. – AlexWien Feb 06 '14 at 19:56
  • Searched in the net a lot, but no specific algorithm on conversion of curved objects to polygonal objects is mentioned. Also the problem I am trying to do is having a goal to achieve complexity of the order of nlgn – nikhs Feb 06 '14 at 20:06

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You can aproximate a 2d curve, or reduce the number of vertices of a poly line, with the Douglas-Peucker Algorithm.

AlexWien
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