Non-convex polygons clustering algorithm

Ekaterinburg 2016

Presenter: Mikhail Vasilenko

Introduction

• Use all obstacles

• How to decrease calculation time?

• How to optimize for quick motion planning?

Approach

• Rectangles (frames)

• Hierarchy

• Different properties on different levels

Frames to Containers

Inclusion? Intersection? One-element container?

Containers to Family

Intersection? Chains of containers? One-element family?

Families to Groups

Inclusion? Intersection? Close distance? One-element group?

Step-by-step solution

Parallel approach

Summary• Described algorithm is implemented in C++

• Tested on real-world data

• Algorithm is used in route-planning project

• Integration of parallelism is underway

Thanks for your attention!

• To cluster families into groups each of the former is assigned a rough hull

• All the groups have non-intersecting rough hulls

• Merges groups with distances lower than twice that value

Last step

Test data

• The case depicted had 1031 polygons

• which were clustered into 310 containers

• 201 families

• and 12 families groups.