Obstacle distances and visibility for car-like robots moving forward
J.-P. Laumond, C. Nissoux, Marilena Vendittelli · 1998
This paper deals with distance computation between a forward moving car-like robot and polygonal obstacles. We propose efficient geometric algorithms to compute the shortest paths to obstacles. We then derive the "visibility" domain in the presence of obstacles, i.e. the set of positions reachable from a starting configuration, by a collision-free shortest path unaffected by the presence of the obstacles.