Как найти путь от источника к цели, избегая препятствий ⇐ C#

[Anonymous]

Actually my robot wants to move from source to target with obstacle avoidance. I find out the obstacle(rectangle shape) and Target(circle shape) in pixels. But i don't know how to find the path from source to target... Please help me.

Here is the code for finding obstacle and target.

for (int i = 0, n = blobs.Length; i < n; i++) { List edgePoints = blobCounter.GetBlobsEdgePoints(blobs); AForge.Point center; float radius; // is circle ? if (shapeChecker.IsCircle(edgePoints, out center, out radius)) { g.DrawEllipse(whitePen, (float)(center.X - radius), (float)(center.Y - radius), (float)(radius * 2), (float)(radius * 2)); target.Add(center.ToString()); } else { List corners; // is triangle or quadrilateral if (shapeChecker.IsConvexPolygon(edgePoints, out corners)) { // get sub-type PolygonSubType subType = shapeChecker.CheckPolygonSubType(corners); Pen pen; if (subType == PolygonSubType.Unknown) { pen = (corners.Count == 4) ? redPen : bluePen; } else { pen = (corners.Count == 4) ? greenPen : brownPen; } g.DrawPolygon(pen, ToPointsArray(corners)); } } } This above coding will detect obstacle and target position pixel values and store it in a seperate array. But from these pixel values how to calculate the path? Waiting for ur suggestions.....


Источник: https://stackoverflow.com/questions/287 ... -avoidance