Path Planning Using Intervals and Graphs

In this paper, the problem of interest is to find a path with given endpoints such that the path lies inside a compact set S given by nonlinear inequalities. The proposed approach uses interval analysis for characterizing S by subpavings (union of boxes) and graph algorithms for finding short feasible paths. As an illustration, the problem of finding collision-free paths for a polygonal rigid object through a space that is cluttered with segment obstacles is considered.

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