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Volume 9
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Article

Expanded Douglas–Peucker Polygonal Approximation and Opposite Angle-Based Exact Cell Decomposition for Path Planning with Curvilinear Obstacles

by
Jin-Woo Jung
*,
Byung-Chul So
,
Jin-Gu Kang
,
Dong-Woo Lim
and
Yunsik Son
Department of Computer Science and Engineering, Dongguk University, Seoul 04620, Korea
*
Author to whom correspondence should be addressed.
Appl. Sci. 2019, 9(4), 638; https://doi.org/10.3390/app9040638
Submission received: 16 January 2019 / Revised: 8 February 2019 / Accepted: 11 February 2019 / Published: 14 February 2019
(This article belongs to the Special Issue Advanced Mobile Robotics)
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Abstract

The Expanded Douglas–Peucker (EDP) polygonal approximation algorithm and its application method for the Opposite Angle-Based Exact Cell Decomposition (OAECD) are proposed for the mobile robot path-planning problem with curvilinear obstacles. The performance of the proposed algorithm is compared with the existing Douglas–Peucker (DP) polygonal approximation and vertical cell decomposition algorithm. The experimental results show that the path generated by the OAECD algorithm with EDP approximation appears much more natural and efficient than the path generated by the vertical cell decomposition algorithm with DP approximation.
Keywords: curvilinear obstacle; douglas–peuker polygonal approximation; opposite angle-based exact cell decomposition; path planning; mobile robot curvilinear obstacle; douglas–peuker polygonal approximation; opposite angle-based exact cell decomposition; path planning; mobile robot

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MDPI and ACS Style

Jung, J.-W.; So, B.-C.; Kang, J.-G.; Lim, D.-W.; Son, Y. Expanded Douglas–Peucker Polygonal Approximation and Opposite Angle-Based Exact Cell Decomposition for Path Planning with Curvilinear Obstacles. Appl. Sci. 2019, 9, 638. https://doi.org/10.3390/app9040638

AMA Style

Jung J-W, So B-C, Kang J-G, Lim D-W, Son Y. Expanded Douglas–Peucker Polygonal Approximation and Opposite Angle-Based Exact Cell Decomposition for Path Planning with Curvilinear Obstacles. Applied Sciences. 2019; 9(4):638. https://doi.org/10.3390/app9040638

Chicago/Turabian Style

Jung, Jin-Woo, Byung-Chul So, Jin-Gu Kang, Dong-Woo Lim, and Yunsik Son. 2019. "Expanded Douglas–Peucker Polygonal Approximation and Opposite Angle-Based Exact Cell Decomposition for Path Planning with Curvilinear Obstacles" Applied Sciences 9, no. 4: 638. https://doi.org/10.3390/app9040638

APA Style

Jung, J.-W., So, B.-C., Kang, J.-G., Lim, D.-W., & Son, Y. (2019). Expanded Douglas–Peucker Polygonal Approximation and Opposite Angle-Based Exact Cell Decomposition for Path Planning with Curvilinear Obstacles. Applied Sciences, 9(4), 638. https://doi.org/10.3390/app9040638

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