Smooth Paths in a Polygonal Channel

  title={Smooth Paths in a Polygonal Channel},
  author={David Lutterkort and J{\"o}rg Peters},
  booktitle={Symposium on Computational Geometry},
We show how to efficiently smooth a polygon with an approximating spline that stays to one side of the polygon. We also show how to find a smooth spline path between two polygons that form a channel. Problems of this type arise in many physical motion planning tasks where not only forbidden regions have to be avoided but also a smooth traversal of tbe motion path is required. Both algorithms are based on a new tight and efficiently computable bound on the distance of a spline from its control… CONTINUE READING
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