Abstract

In this paper we present an algorithm for the search of the shortest path through a set of obstacles approximated by circles and ellipses. A set of heuristics is developed to eliminate obstacles that do not affect the search for the shortest path. The A algorithm is used during the path generation phase to direct work toward the estimated shortest path. Algebraic techniques are used for computing a set of pseudo vertices since no natural vertices exist with the algebraic representation of the obstacles. Examples are given to demonstrate the techniques developed.

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