Shortest path algorithm in the presence of polyhedral forbidden

Ashkan Mirzaee, Mohamed Awwad


In this work we consider the problem of the shortest path in Euclidean space in the presence of convex polyhedral forbidden regions. A travel path is to be selected to minimize the travel distance where direct path is prohibited in the presence of forbidden or no-fly regions. A solution is presented by a geometrical algorithm for polygonal barriers. The procedure iterates by increasing the number of vertices of the barrier to generalize the solution to circular barriers. This research was motivated by a practical shortest path problem for goods delivery in the absence of direct paths using Unmanned Aerial Vehicles (UAV), commonly referred to as drones.


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