# Expanded Douglas–Peucker Polygonal Approximation and Opposite Angle-Based Exact Cell Decomposition for Path Planning with Curvilinear Obstacles

> Research article (Applied Sciences, 2019) · cited 32× · AI/ML

**Wikidata**: [openalex:W2911795802](https://www.wikidata.org/wiki/openalex:W2911795802)  
**Source**: https://4ort.xyz/entity/expanded-douglaspeucker-polygonal-approximation-and-opposite-angle-based-exact-cell-decomposition-for-path-planning-with