Curvature-constrained shortest paths in a convex polygon
Let B be a point robot moving in the plane, whose path is constrained to have curvature at most 1, and let P be a convex polygon with n vertices. We study the collision-free, optimal path-planning problem for B moving between two configurations inside P. (A configuration specifies both a location and a direction of travel.) We present an O(n2 log n) time algorithm for determining whether a collision-free path exists for B between two given configurations. If such a path exists, the algorithm returns a shortest one. We provide a detailed classification of curvature-constrained shortest paths inside a convex polygon and prove several properties of them, which are interesting in their own right. For example, we prove that any such shortest path is comprised of at most eight segments, each of which is a circular arc of unit radius or a straight-line segment. Some of the properties are quite general and shed some light on curvature-constrained shortest paths amid obstacles.
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- Computation Theory & Mathematics
- 4903 Numerical and computational mathematics
- 4901 Applied mathematics
- 4613 Theory of computation
- 0802 Computation Theory and Mathematics
- 0101 Pure Mathematics
Citation
Published In
DOI
ISSN
Publication Date
Volume
Issue
Start / End Page
Related Subject Headings
- Computation Theory & Mathematics
- 4903 Numerical and computational mathematics
- 4901 Applied mathematics
- 4613 Theory of computation
- 0802 Computation Theory and Mathematics
- 0101 Pure Mathematics