An Efficient Algorithm for Computing High-Quality Paths amid Polygonal Obstacles

06/09/2017

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by   Pankaj K. Agarwal, et al.

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We study a path-planning problem amid a set O of obstacles in R^2, in which we wish to compute a short path between two points while also maintaining a high clearance from O; the clearance of a point is its distance from a nearest obstacle in O. Specifically, the problem asks for a path minimizing the reciprocal of the clearance integrated over the length of the path. We present the first polynomial-time approximation scheme for this problem. Let n be the total number of obstacle vertices and let ε∈ (0,1]. Our algorithm computes in time O(n^2/ε ^2n/ε) a path of total cost at most (1+ε) times the cost of the optimal path.