Convex tours of bounded curvature

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… (More)
DOI: 10.1016/S0925-7721(99)00022-X

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