Adaptive morphology shortest path planning based on rotating object and critical transition point

This paper presents a general approach to find the shortest path for a general moving object with rotation and forward/backward movement among obstacles of arbitrary shapes. We call the object of finding a shortest path by the name of path planning. By utilizing the concept of the critical transition point and adaptive path planning, finding a shortest path problem of car-like vehicles becomes more practical. Moreover, additional efficiency in routing can be obtained since the critical transition point is used in the configuration space. Notice that the computational complexity is not increased. A car-like vehicle model with forward/backward driving and turning mechanism is used to validate the performance of the proposed algorithms. Simulation results show that not only are the proposed algorithms successful in various environments, but also these algorithms have good efficiency in computation. Moreover, routing gains with the help of morphological theory