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Rapport Année : 1996

A Polynomial-Time Algorithm for Computing a Shortest Path of Bounded Curvature Amidst Moderate Obstacles

Jean-Daniel Boissonnat
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Sylvain Lazard

Résumé

In this paper, we consider the problem of computing a shortest path of bounded curvature amidst obstacles in the plane. More precisely, given prescribed initial and final configurations (i.e. positions and orientations) and a set of obstacles in the plane, we want to compute a shortest $C¨$ path joining those two configurations, avoiding the obstacles, and with the further constraint that, on each $C©$ piece, the radius of curvature is at least 1. In this paper, we consider the case of moderate obstacles (as introduced by Agarwal et al.) and present a polynomial-time exact algorithm to solve this problem.

Domaines

Autre [cs.OH]
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Dates et versions

inria-00073803 , version 1 (24-05-2006)

Identifiants

  • HAL Id : inria-00073803 , version 1

Citer

Jean-Daniel Boissonnat, Sylvain Lazard. A Polynomial-Time Algorithm for Computing a Shortest Path of Bounded Curvature Amidst Moderate Obstacles. RR-2887, INRIA. 1996. ⟨inria-00073803⟩
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