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.
https://hal.inria.fr/inria-00413181
Contributeur : Olivier Devillers
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Soumis le : jeudi 3 septembre 2009 - 14:06:11
Dernière modification le : lundi 17 décembre 2018 - 10:48:05
Document(s) archivé(s) le : mardi 15 juin 2010 - 21:22:49
