In this paper,an algorithm for planning a safe path for a two-dimensional polygonal Autonomous Guided Vehicle (AGV),which translates freely without rotation in a two-dimensional knwon environment,populated by physical stationary obstacles,is presented.The obstacles are transformed to represent the locus of forbidden positions of an arbitrarily chosen reference point on the AGV and the AGV is considered as a point-robot (reference point).the V~*MECHA algorithm is then applied to find the shortest safe apth between an initial and goal point for the AGV in the environment in O(n~2 log n) computational time,where n is the total number of the transformed obstacles' vertices.
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