Geodesic
Method of routing with obstacles based on parallel computing
Vestnik Tverskogo gosudarstvennogo universiteta. Seriâ Prikladnaâ matematika, no. 3 (2016), pp. 85-95

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We propose a new effective method of finding the minimal geodesic path in a 2D environment with polygonal obstacles. We describe continuous solution that uses visibility graph for polygonal obstacles. The problem of binary image vectorization and approximation is solved with a controlled accuracy. GPU computation is used to speed up the calculations.
Keywords: pathfinding, environment with obstacles, vectorization of images, visibility graph, GPU, technology CUDA. 
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     author = {K. A. Zaeva and A. B. Semenov},
     title = {Method of routing with obstacles based on parallel computing},
     journal = {Vestnik Tverskogo gosudarstvennogo universiteta. Seri\^a Prikladna\^a matematika},
     pages = {85--95},
     publisher = {mathdoc},
     number = {3},
     year = {2016},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/VTPMK_2016_3_a6/}
}
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K. A. Zaeva; A. B. Semenov. Method of routing with obstacles based on parallel computing. Vestnik Tverskogo gosudarstvennogo universiteta. Seriâ Prikladnaâ matematika, no. 3 (2016), pp. 85-95. http://geodesic.mathdoc.fr/item/VTPMK_2016_3_a6/