A method for the shortest distance routing considering turn penalties

Abstract

A shortest distance route is crucial in emergent navigations including rescue and military applications. This paper proposes a method of the shortest distance routing considering turn penalties. First, unnavigable shallow areas are obtained based on tracing of the safety contours, and they are processed together with other fixed obstacle areas. Then paths bypassing two sides of obstacle areas are analyzed, a binary tree of route is created, navigable paths are tested, and a shortest route is acquired automatically. Finally, a penalty is considered for each turn, and different penalties of turn angles are further analyzed. Experimental results demonstrate that the proposed method can acquire a shortest distance route considering turn penalties.