Description: Take the midpoint of each obstacle vertex point for the path, the path of each connection point, move the robot start and end points of each path on the limited use Dijkstra algorithm to find the shortest path network diagram to find the starting point P1 from the Pn the shortest path to the end, because the algorithm uses the midpoint of the conditions of cable, not the entire optimal path planning of space, and then use genetic algorithm to find the shortest path of each path points Pi (i = 1,2, ... n ) adjusted to the path of obstacles in the corresponding endpoint connection point slide, using Pi = Pi1+ ti × (Pi2-Pi1) (ti ∈ [0,1] i = 1,2, ... n) to determine the appropriate of Pi, is the new path point, the connection point for the optimal path for this path.
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robot.txt
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