Some Advanced Techniques in Reducing Time for Path Planning Based on Visibility Graph

This paper describes some techniques based on polygon aggregation in reducing time for visibility graph in case of many obstacles. In path planning, the approaches are commonly used such as search-based, sampling-based or combinatorial planning. And visibility graph is one of the roadmaps of combinatorial planning. Building a visibility graph is a main phase in the whole process and theoretically it takes θ(nlogn). However, with some practical applications, for example one which has a large number of obstacles, this phase is very time-consuming. With the techniques proposed, the experiment result shows that the computing time gets a reduction factor of one-third approximately when the aggregation are used in preprocessing of building visibility graph.