1- Use Breadth First Search to find optimal path between any given initial point and goal point 2- Consider workspace as a 8-connected space 3- Use Half-plane and semi-algebraic models to represent obstacle space 4- Following figure represents the free space (Cfree) and obstacle space (Cobs) 5- Show optimal path using a simple graphical interface Cobs Cobs Cobs Cfree (0,0) (145,14) (168,14) (188,51) (165,89) (158,51) (120, 55) x y (180,120)
