A locally optimal fast obstacle-avoiding path-planning algorithm

AbstractTwo algorithms to compute the shortest collision-free paths in the Euclidean plane are presented. The ƒ obstacles assumed to be described by disjoint convex polygons having N vertices in total. After preprocessing time O(N+flogN), a suboptimal shortest path between two arbitrary query points can be found in O(f+NlogN) time using Dijkstra's algorithm and in Θ(N) time using the A∗ algorithm. The space complexity is O(N+f)