Convex tours of bounded curvature

نویسندگان

  • Jean-Daniel Boissonnat
  • Jurek Czyzowicz
  • Olivier Devillers
  • Jean-Marc Robert
  • Mariette Yvinec
چکیده

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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عنوان ژورنال:
  • Comput. Geom.

دوره 13  شماره 

صفحات  -

تاریخ انتشار 1999