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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https://hal.inria.fr/inria-00074301
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Submitted on : Wednesday, May 24, 2006 - 3:00:52 PM
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  • HAL Id : inria-00074301, version 1

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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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