A New Method for Exploring Collision-Free Paths in a 2-Dimension Space

This paper focuses on methods and techniques for exploring collision-free paths in a 2-dimenaional space where obstacles are simplified into some geometric enclosed figures. They are restricted to be inside a rectangle region. The free-spaces which are inside the rectangle and outside the obstacles are divided into free-triangles. Paths are planned through the set of these triangles, which is called free-triangle-set. This is a new method involving path-planning problems in robotics.