The method uses three distance maps covering the same area of evolution containing departure (S) and destination (T) points and the obstacle or obstacles to be avoided (10,11), wherein a first distance map has a trajectory departure point (S) as an origin for the distance measurement, a second distance map has a trajectory destination point (T) as an origin for distance measurement, and a third distance map distances (cf figure) has a distance value assigned to each of the points corresponding to the sum of the distance values assigned to the same point in the first and second distance maps. A plot (cf dotted lines in the figure) linking the departure point (S) to the destination point (T) via intermediate points is chosen as a plot for the trajectory, having the shortest possible assigned distance values in the third map.
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