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Convex Tours of Bounded Curvature

Jean-Daniel Boissonnat·Jurek Czyzowicz·Olivier Devillers·Jean-Marc Robert·Mariette Yvinec
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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 obstacle, whose curvature is the smallest possible.

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Jean-Daniel Boissonnat, Jurek Czyzowicz, Olivier Devillers, Jean-Marc Robert, Mariette Yvinec. 1999-09-03. Convex Tours of Bounded Curvature. https://arxiv.org/abs/cs/9909004

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