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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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