Convex Tours of Bounded Curvature

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 199

Convex tours of bounded curvature

Programme 4 - Robotique, image et vision. Projet PrismeSIGLEAvailable at INIST (FR), Document Supply Service, under shelf-number : 14802 E, issue : a.1994 n.2375 / INIST-CNRS - Institut de l'Information Scientifique et TechniqueFRFranc

Convex tours of bounded curvature

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