Convex Tours of Bounded Curvature. - Archive ouverte HAL Access content directly
Journal Articles Computational Geometry Year : 1999

Convex Tours of Bounded Curvature.

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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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Dates and versions

inria-00413181 , version 1 (03-09-2009)

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Jean-Daniel Boissonnat, Jurek Czyzowicz, Olivier Devillers, Jean-Marc Robert, Mariette Yvinec. Convex Tours of Bounded Curvature.. Computational Geometry, 1999, 13, pp.149-160. ⟨10.1016/S0925-7721(99)00022-X⟩. ⟨inria-00413181⟩
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