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-00413181
Contributor : Olivier Devillers <>
Submitted on : Thursday, September 3, 2009 - 2:06:11 PM
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Jean-Daniel Boissonnat, Jurek Czyzowicz, Olivier Devillers, Jean-Marc Robert, Mariette Yvinec. Convex Tours of Bounded Curvature.. Computational Geometry, Elsevier, 1999, 13, pp.149-160. ⟨10.1016/S0925-7721(99)00022-X⟩. ⟨inria-00413181⟩

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