Convex tours of bounded curvature

Authors
Boissonnat, JD Czyzowicz, J Devillers, O Robert, JM Yvinec, M
Citation
Jd. Boissonnat et al., Convex tours of bounded curvature, COMP GEOM, 13(3), 1999, pp. 149-159
Citations number
20
Categorie Soggetti
Engineering Mathematics
Journal title
COMPUTATIONAL GEOMETRY-THEORY AND APPLICATIONS
ISSN journal
09257721 → ACNP
Volume
13
Issue
3
Year of publication
1999
Pages
149 - 159
Database
ISI
SICI code
0925-7721(199909)13:3<149:CTOBC>2.0.ZU;2-A
Abstract
We consider the motion planning problem for a point constrained to move alo ng a smooth closed convex path of bounded curvature. The workspace of the m oving point is bounded by a convex polygon with pn 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 curva ture is the smallest possible. (C) 1999 Elsevier Science B.V. All rights re served.