Reachability by Paths of Bounded Curvature in a Convex Polygon

Details Reachability by Paths of Bounded Curvature in a Convex Polygon Reachability by Paths of Bounded Curvature in a Convex Polygon

2010-08-25

arxiv.org/abs/1008.4244v1

Computer Science

Computational Geometry

Scientific paper

Let $B$ be a point robot moving in the plane, whose path is constrained to forward motions with curvature at most one, 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.

Affiliated with

Also associated with

No associations

Rating

Reachability by Paths of Bounded Curvature in a Convex Polygon does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.

If you have personal experience with Reachability by Paths of Bounded Curvature in a Convex Polygon, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Reachability by Paths of Bounded Curvature in a Convex Polygon will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFWR-SCP-O-525180