Triangulation Guided High Clearance Paths

We explore the development of efficient algorithms for constructing collision-free paths with high clearance in the presence of polygonal obstacles. We review existing algorithms for planning collision-free paths in two-dimensional environment consisting of two-dimensional obstacles. We propose an algorithm that construct collision-free paths by following the adjacency relationships of the triangulation of the free-space. Preliminary investigation of the proposed algorithms show that generated paths have high clearance from the obstacles.