Algorithmic path planning for robots based on the forbidden rotation range

The authors present an efficient method for determining the forbidden rotation range (FRR) of a polygon moving in the presence of stationary polygonal obstacles, where each of the polygons may be convex or concave. The FRR of the edges of the moving polygon versus edges of the obstacles is derived. It is shown that the FRR of the moving polygon versus the obstacles is the union of the FRR of each edge of the moving polygon and the obstacles. This result is utilized to develop two algorithms for computing the FRR that can be used for robot path planning