Visibility Graph-Based Path Planning Algorithm Safety Evaluation and Optimization

摘要

The main objective of the current research is to create an algorithm that will evaluate the safety of maze solutions produced by Visibility Graph (VG) based maze solving algorithms. The proposed algorithm suggests a method to improve safety at the expense of path length increase.The software was developed as part of the research to perform the calculation and provide a Graphical User Interface.The results showed that the currently suggested algorithm was able to detect and significantly reduce autonomous robot/vehicle safety concerns.