A Novel Artificial Immune Algorithm for Spatial Clustering with Obstacle Constraint and Its Applications

Figure 2

Construction of approximate optimal path between two points with obstacle constraints: (a) intersect with a linear obstacle; (b) intersect with the last planar obstacle; (c) intersect with a planar obstacle and obstacles behind it are all planar; (d) intersect with a planar obstacle and the obstacle behind it is linear.

(a)

(b)

(c)

(d)