Safe Path Network: A New Approach To Path-planning

This paper describes a new method to solve the path-planning problem. This method generates a network named Safe Path Network ( SPN for short ) for a known polygonal environment.The nodes of the SPN are the minimal safe areas In which moving object can turn around without collision. The arcs of the network are connections between these nodes with information to navigate safe motion Of the object either along straight or curve path. Actually,SPN is motivated by the VGRAPH [2]. Having established the SPN,the path-planning problem taking account of the shape and orientation of a moving object becomes a network searching problem.This method can solve many difficult path-planning problems with lower computational complexity.