Motion Planning with Directional Constraints
Matin Rohani Larijani · 2014
In this thesis motion planing with directional constraint in a polygon P possibly with holes is studied.We have studied this problem from two dierent viewpoints.We proposed an algorithm which directly computes a path that adheres to the directional constraints.We also provided an algorithm which approximates any piecewise linear path in the interior of P with a piecewise linear path that adheres to the directional constraints.