An exact method for finding shortest routes on a sphere, avoiding obstacles: Finding Shortest Routes on a Sphere, Avoiding Obstacles
Brown, Gerald G.
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On the surface of a sphere, we take as inputs two points, neither of them contained in any of a number of spherical polygon obstacles, and quickly find the shortest route connecting these two points while avoiding any obstacle. The WetRoute method presented here has been adopted by the US Navy for several applications.
The article of record as published may be found at http://dx.doi.org/.10.1002/nav.21702
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