Michael J de Smith
Home: www.desmith.com	VORTAL models Steiner problem in the plane, with obstacles VORTAL procedure applied to a triangular region optimisation problem (Steiner problem) with obstacles. Sample topology shown consists of three paths (coloured) and a single connecting point. VORTAL stands for Variationally Optimised Rapidly-expanding Random Trees (RRT) Algorithm. VORTAL interactive program (steiner.exe) Gradient constrained problem in Pentland Hills region, Scotland (pentland.exe) In this example a path is sought across the physical landscape which is of minimum length and satisfies the gradient constraints imposed (over the step length/path segments selected). In this case the constraint is that no step can have a gradient of greater than 10%. The red lines are the RRT search routes, the black line is a feasible solution path and the blue line, a shorter path that is based on the initial solution and still satisfies the gradient constraints, although its step length may imply a greater degree of cut and fill. The code for this program and notes to be read first are provided below (updated 25 Oct 03): VORTAL model with gradient constraints (pentland.zip) Notes on pentland.zip (pentland.txt) - read this first! Details of RRT can be found at : http://msl.cs.uiuc.edu/rrt/ Back
	© 2002, 2003 Michael J de Smith