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Appl. Sci. 2019, 9(4), 638; https://doi.org/10.3390/app9040638

Expanded Douglas–Peucker Polygonal Approximation and Opposite Angle-Based Exact Cell Decomposition for Path Planning with Curvilinear Obstacles

Department of Computer Science and Engineering, Dongguk University, Seoul 04620, Korea
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Received: 16 January 2019 / Revised: 8 February 2019 / Accepted: 11 February 2019 / Published: 14 February 2019
(This article belongs to the Special Issue Advanced Mobile Robotics)
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Abstract

The Expanded Douglas–Peucker (EDP) polygonal approximation algorithm and its application method for the Opposite Angle-Based Exact Cell Decomposition (OAECD) are proposed for the mobile robot path-planning problem with curvilinear obstacles. The performance of the proposed algorithm is compared with the existing Douglas–Peucker (DP) polygonal approximation and vertical cell decomposition algorithm. The experimental results show that the path generated by the OAECD algorithm with EDP approximation appears much more natural and efficient than the path generated by the vertical cell decomposition algorithm with DP approximation. View Full-Text
Keywords: curvilinear obstacle; douglas–peuker polygonal approximation; opposite angle-based exact cell decomposition; path planning; mobile robot curvilinear obstacle; douglas–peuker polygonal approximation; opposite angle-based exact cell decomposition; path planning; mobile robot
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Jung, J.-W.; So, B.-C.; Kang, J.-G.; Lim, D.-W.; Son, Y. Expanded Douglas–Peucker Polygonal Approximation and Opposite Angle-Based Exact Cell Decomposition for Path Planning with Curvilinear Obstacles. Appl. Sci. 2019, 9, 638.

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