An Efficient Algorithm to Determine the Intersection of Simple Polygons for Robot Path Planning

This paper presents an efficient algorithm for determining the intersection of two simple polygons. The proposed algorithm is based on the idea of searching for the vertices of the intersection polygon vertex by vertex along the boundary in a clockwise direction. This method finds the intersection polygon vertices and their order in one pass. The algorithm almost eliminates the need for testing whether candidate vertices are inside both polygons and the sorting stage is no longer needed.