An Efficient Snell's-Law Method for Optimal-Path Planning Across Multiple Two-dimensional Irregular Homogeneous-Cost Regions
Rowe, Neil C.
Richbourg, R. F.
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We are exploring a new approach to high-level optimal-path planning when homogeneous irregularlyshaped regions of a plane have different traversal costs per unit distance. It is based on the simple idea that optimal paths must be straight in homogeneous regions, and so those regions need not be subdivided for path planning. Our approach uses optics analogies, ray tracing, and Snell's Law, and reduces the problem to an efficient graph search with a variety of pruning criteria...
International Journal of Robotics Research, 9, no. 6 (December 1990), 48-66. The equations were redrawn in 2008.
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