Utilizing Subsection Arc Algorithm to Optimize the Path for a Complex Mobile Entity in a Strait Environment

Aiming at path planning for the complex mobile entity in a strait environment, based on hull searching algorithm, a set of folding linear path candidates were found out, in order to enhance the success rate of path planned, the folding linear paths were transformed to the arcs by utilizing subsection arc algorithm. After the motion trace of the mobile entity was given, the security of the path is easily judged by the collision detection. The path optimized algorithm is simple, effective for the complex mobile entity in a strait environment.