The Cost of Bounded Curvature

@article{Kim2012TheCO,
  title={The Cost of Bounded Curvature},
  author={Hyo-Sil Kim and Otfried Cheong},
  journal={ArXiv},
  year={2012},
  volume={abs/1106.6214}
}
  • Hyo-Sil Kim, Otfried Cheong
  • Published 2012
  • Computer Science, Mathematics
  • ArXiv
  • We study the motion-planning problem for a car-like robot whose turning radius is bounded from below by one and which is allowed to move in the forward direction only (Dubins car). For two robot configurations σ, σ′, let l(σ, σ′) be the length of a shortest bounded-curvature path from σ to σ′ without obstacles. For d ≥ 0, let l(d) be the supremum of l(σ, σ′), over all pairs (σ, σ′) that are at Euclidean distance d. We study the function dub(d) = l(d) − d, which expresses the difference between… CONTINUE READING
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