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VigneronAntoine

Vigneron, Antoine
Geometric Algorithms Lab.
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Reachability by paths of bounded curvature in a convex polygon

Author(s)
Ahn, Hee-KapCheong, OtfriedMatousek, JiriVigneron, Antoine
Issued Date
2012-01
DOI
10.1016/j.comgeo.2011.07.003
URI
https://scholarworks.unist.ac.kr/handle/201301/19643
Fulltext
http://www.sciencedirect.com/science/article/pii/S0925772111000617
Citation
COMPUTATIONAL GEOMETRY-THEORY AND APPLICATIONS, v.45, no.1-2, pp.21 - 32
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
Publisher
ELSEVIER SCIENCE BV
ISSN
0925-7721
Keyword (Author)
Motion planningBounded curvatureConvex polygon
Keyword
CONSTRAINED SHORTEST PATHSTIME ALGORITHMLINEAR-TIMEOBSTACLESCURVESPLANE

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