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Convex Tours of Bounded Curvature

Abstract : We consider the motion planning problem for a point constrained to move along a smooth closed convex path of bounded curvature. The workspace of the moving point is bounded by a convex polygon with $m$ vertices, containing an obstacle in a form of a simple polygon with $n$ vertices. We present an $O(m+n)$ time algorithm finding the path, going around the obstacle, whose curvature is the smallest possible.
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Reports (Research report)
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Submitted on : Wednesday, May 24, 2006 - 3:00:52 PM
Last modification on : Thursday, October 27, 2022 - 4:02:56 AM
Long-term archiving on: : Tuesday, April 12, 2011 - 4:27:11 PM


  • HAL Id : inria-00074301, version 1


Jean-Daniel Boissonnat, Jurek Czyzowicz, Olivier Devillers, Jean-Marc Robert, Mariette Yvinec. Convex Tours of Bounded Curvature. [Research Report] RR-2375, INRIA. 1994. ⟨inria-00074301⟩



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