Reachability by paths of bounded curvature in a convex polygon
SCIE
SCOPUS
- Title
- Reachability by paths of bounded curvature in a convex polygon
- Authors
- Ahn, HK; Cheong, O; Matousek, J; Vigneron, A
- Date Issued
- 2012-01
- Publisher
- ELSEVIER SCIENCE BV
- Abstract
- Let B be a point robot moving in the plane, whose path is constrained to forward motions with curvature at most 1, and let P be a convex polygon with n vertices. Given a starting configuration (a location and a direction of travel) for B inside P. we characterize the region of all points of P that can be reached by B, and show that it has complexity O(n). We give an O(n(2)) time algorithm to compute this region. We show that a point is reachable only if it can be reached by a path of type CCSCS, where C denotes a unit circle arc and S denotes a line segment. (C) 2011 Elsevier B.V. All rights reserved.
- Keywords
- Motion planning; Bounded curvature; Convex polygon; CONSTRAINED SHORTEST PATHS; TIME ALGORITHM; LINEAR-TIME; OBSTACLES; CURVES; PLANE
- URI
- https://oasis.postech.ac.kr/handle/2014.oak/17019
- DOI
- 10.1016/J.COMGEO.2011.07.003
- ISSN
- 0925-7721
- Article Type
- Article
- Citation
- COMPUTATIONAL GEOMETRY-THEORY AND APPLICATIONS, vol. 45, no. 1-2, page. 21 - 32, 2012-01
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