SOO-CHANG PEILai, Chin-LunChin-LunLaiShih, Frank Y.Frank Y.Shih2009-03-042018-07-062009-03-042018-07-06199800313203http://ntur.lib.ntu.edu.tw//handle/246246/142450https://www.scopus.com/inward/record.uri?eid=2-s2.0-0032140027&doi=10.1016%2fS0031-3203%2897%2900141-6&partnerID=40&md5=b6a24ae413a624ddd052366056007984This paper presents a mathematical morphology based approach to find the shortest path of an arbitrarily shaped moving object with rotations amid obstacles of arbitrary shapes. By utilizing the proposed rotational morphology along with the continuous turning-angle constraint, the representation framework of the motion planning problem becomes simple and practical. Two vehicle models with different driving and turning systems are used in solving the path planning problem and their strategies are presented. Simulation results show that our algorithm works successfully in various conditions. © 1998 Pattern Recognition Society. Published by Elsevier Science Ltd. All rights reserved.application/pdf768043 bytesapplication/pdfen-USContinuous turning angle; Distance transformation; Mathematical morphology; Motion planning; Rotational morphology[SDGs]SDG11Computational complexity; Computational geometry; Computer simulation; Mathematical morphology; Motion planning; Problem solving; Continuous turning angle; Distance transformation; Relational morphology; Object recognitionjournal article10.1016/S0031-3203(97)00141-6http://ntur.lib.ntu.edu.tw/bitstream/246246/142450/1/40.pdf