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.

This content is only available via PDF.
You do not currently have access to this content.