A Convex Point Method for Path Planning in Robotics

As an approach to the path planning problem for exploring collision-free paths in a 2-dimensional spare, the convex point method, is discussed. The method of searcing continually for convex points is aimed at in the solution of collision-free path planning problms in an environment Where obstacles are simplified into convex or concave polygons. It has a higher speed of path planning and higher quality of optimization path than the othermethods.