Planning paths of minimal curvature
Jürgen Sellen · 2002
We consider the problem of planning curvature constrained paths amidst polygonal obstacles, connecting the given start and target configurations. Let the critical curvature R/sub c//sup -1/ be the minimal curvature for which a constrained path exists. We describe an algorithm which approximates the critical curvature and finds a corresponding path. Further, we give an efficient decision procedure to determine if there exists a path satisfying the given curvature constraint R/sup -1/, with running time polynomial in |R-R/sub c/|/R.