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Moving a disc between polygons

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Abstract

An algorithm is given for finding a collision-free path for a disc between a collection of polygons havingn corners in total. The polygons are fixed and can be preprocessed. A query specifies the radiusr of the disc to be moved and the start and destination points of the center of the disc. The answer whether a feasible path exists is given in timeO(logn). Returning a feasible path is done in additional time proportional to the length of the description of the path. Preprocessing time isO(n logn) and space complexity isO(n).

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Authors and Affiliations

  1. Universität des Saarlandes, Fachbereich 10, 6600, Saarbrücken, Germany

    Hans Rohnert

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  1. Hans Rohnert
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Communicated by D. T. Lee.

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Rohnert, H. Moving a disc between polygons. Algorithmica 6, 182–191 (1991). https://doi.org/10.1007/BF01759040

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  • DOI: https://doi.org/10.1007/BF01759040

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