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Elsevier, Computational Geometry, 3(13), p. 149-159, 1999

DOI: 10.1016/s0925-7721(99)00022-x

Springer Verlag, Lecture Notes in Computer Science, p. 254-265

DOI: 10.1007/bfb0049413

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Convex Tours of Bounded Curvature

Journal article published in 1994 by Jean-Daniel Boissonnat, Jurek Czyzowicz, Olivier Devillers ORCID, Jean-Marc Robert, Mariette Yvinec
This paper is made freely available by the publisher.
This paper is made freely available by the publisher.

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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. ; Comment: 11 pages, 5 figures, abstract presented at European Symposium on Algorithms 1993