A polynomial - time algorithm for computing a shortest path
نویسندگان
چکیده
In this paper, we consider the problem of computing a shortest path of bounded curvature amidst obstacles in the plane. More precisely, given prescribed initial and nal conngurations (i.e. positions and orientations) and a set of obstacles in the plane, we want to compute a shortest C 1 path joining those two conngurations, avoiding the obstacles, and with the further constraint that, on each C 2 piece, the radius of curvature is at least 1. In this paper, we consider the case of moderate obstacles (as introduced by Agarwal et al.) and present a polynomial-time exact algorithm to solve this problem.
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