A Polynomial-Time Algorithm for Computing Shortest Paths of Bounded Curvature Amidst Moderate Obstacles

DOI10.1142/S0218195903001128zbMath1093.68123OpenAlexW2148079461MaRDI QIDQ4818580

Jean-Daniel Boissonnat, Sylvain Lazard

Publication date: 29 September 2004

Published in: International Journal of Computational Geometry & Applications (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1142/s0218195903001128

zbMATH Keywords

mobile robotshortest pathscomputational geometrynon-holonomic motion planningcurvature-constrained

Mathematics Subject Classification ID

Computational aspects related to convexity (52B55) Computer graphics; computational geometry (digital and algorithmic aspects) (68U05)

Related Items (5)

MINIMAL CURVATURE-CONSTRAINED PATHS IN THE PLANE WITH A CONSTRAINT ON ARCS WITH OPPOSITE ORIENTATIONS ⋮ Reachability by paths of bounded curvature in a convex polygon ⋮ The cost of bounded curvature ⋮ SMOOTHING IMPRECISE 1.5D TERRAINS ⋮ Census of bounded curvature paths

Cites Work

• Unnamed Item
• Nonholonomic multibody mobile robots: controllability and motion planning in the presence of obstacles
• Computational geometry in a curved world
• On the union of Jordan regions and collision-free translational motion amidst polygonal obstacles
• Planning constrained motion
• Applications of random sampling in computational geometry. II
• On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents

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