This paper presents a simple and efficient algorithm to find a collision free path for a convex polygonal object moving amidst fixed convex polygonal obstacles. Given the initial and the final positions and orientations of the object, the positions and the orientations of the obstacles, the algorithm traces a collision free path. The algorithm identifies reference points at the centroids of these polygonal entities, configures potential candidate obstacles for collision, analyzes the type of collision, and devises a simple method to avoid the obstacles. The reference points help in locating potential obstacles for collision in an environment where large number of obstacles affect computational efficiency and real time implementation. In addition, the computational complexity is found to vary linearly as the number of obstacles increases in the environment. This algorithm is capable of running in real time.

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