3D shortest path planning in the presence of polyhedral obstacles
Kaiwen Jiang, Lakmal D. Seneviratne, S.W.E. Earles · 2002
Presented is an approach for shortest path planning in three dimensional space in the presence of convex polyhedra. It is based on a visibility graph which is extended from two dimensional space into three dimensional one. A collineation is introduced for identification of visible edges in the three dimensional visibility graph. Then optimization schemes are used for finding a set of shortest paths via different edges, and the global shortest path is selected from them. Result of a computer simulation is given showing the versatility and efficiency of this approach.>