A polynomial-time algorithm for computing shortest paths of bounded curvature amidst moderate obstaclesReport as inadecuate




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1 PRISME - Geometry, Algorithms and Robotics CRISAM - Inria Sophia Antipolis - Méditerranée 2 ISA - Models, algorithms and geometry for computer graphics and vision INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications

Abstract : In this paper, we consider the problem of computing shortest paths of bounded curvature amidst obstacles in the plane. More precisely, given two prescribed initial and final configurations specifying the location and the direction of travel and a set of obstacles in the plane, we want to compute a shortest $C^1$ path joining those two configurations, avoiding the obstacles, and with the further constraint that, on each $C^2$ piece, the radius of curvature is at least 1. In this paper, we consider the case of moderate obstacles as introduced by Agarwal et al. and present a polynomial-time exact algorithm to solve this problem.

Mots-clés : système mécanique non holonome computational geometry non-holonomic robot motion planning shortest paths mobile robot planification de trajectoires plus courts chemins robotique mobile géométrie algorithmique





Author: Jean-Daniel Boissonnat - Sylvain Lazard -

Source: https://hal.archives-ouvertes.fr/



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