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Reports (Research Report) Year : 1994

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.


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inria-00074301 , version 1 (24-05-2006)


  • HAL Id : inria-00074301 , version 1


Jean-Daniel Boissonnat, Jurek Czyzowicz, Olivier Devillers, Jean-Marc Robert, Mariette Yvinec. Convex Tours of Bounded Curvature. [Research Report] RR-2375, INRIA. 1994. ⟨inria-00074301⟩
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