Global Path Planning Method Based on Geometry Algorithm in a Strait Environment

A global path planning method for complex mobile entity based on geometry algorithm in a strait environment was researched. Aiming at the complex mobile entity, the obstacles and the mobile entity were expressed as different polygons. Based on geometry algorithm, a set of folding linear path candidates were found out firstly. In order to enhance the success rate of path planning, the folding linear path candidates are transformed to the arcs by data interpolation algorithm. The topological relations between motion trace of the mobile entity and the obstacles were used to validate the security of the paths. Simulation results show that the method is simple, effective and high efficient for the complex mobile entity in a strait environment.