期刊名称：Journal of Theoretical and Applied Information Technology
印刷版ISSN：1992-8645
电子版ISSN：1817-3195
出版年度：2020
卷号：98
期号：20
页码：3225-3236
出版社：Journal of Theoretical and Applied
摘要：This article presents a strategy for the calculation of paths in indoor and static labyrinth-type environments, using a camera on the stage as a sensor. An algorithm is applied that uses the skeletonization of a binary image as the basis for the calculation of the path, which, despite being a technique that comes from image processing, is used in a satisfactory way to this problem in a variety of scenarios with different degrees of difficulty, so that it can solve any type of labyrinth with different geometry and number of branches in its path. In this implementation a refined algorithm is used that applies two techniques derived from the skeletonization of the image and that take different paths to reach a possible solution; the algorithm determines the complexity of the problem by evaluating the amount of branches that the binary skeleton has, if the number of possible branches of the binary tree is less than a threshold, then, a technique that measures the distance of each path is applied as a strategy to calculate the shortest path, if the number of branches is greater than the determined threshold, a technique that removes points at the end of paths not connected to a possible path is applied, this is done by calling a routine in a recursive way until the only two end points in the path are the start and end points of the path.
