**comp.graphics.algorithms**

## Subject: **Re: method of separating angles?**

Thanks :)

I think I understand what you mean. But this dilating, is that the same

as "growing" the obstacle as I understand?

I read about this in a piece from Doyle about robot path planning, it

was called the Minkowski set difference. I think what his that you grow

the obstacle depending on the orientation of subject. So if the subject

has a polyhedron kind of shape, you want the obstacles to also adapt.

I haven't done this myself, it's theory :)

But yes, I calculate my route by hugging the obstacle. I don't use a

visibility graph, though I agree it would probably be a better

solution. I take my first obstacle, calculate a route around it, and

move on to the next. I don't want my exit point to be in the next

obstacle.

The reason I have chosen for this primitive approach is that the number

of obstacles is very limited. Still, I would like to have some check

when I add another obstacle, that my algorithm will still work.

But thanks a lot, :)

Cheers, Sytse

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