Sergey Bereg
ABSTRACT
We consider the existence and efficient construction of bounded curvature paths traversing constant-width regions of the plane, called corridors. We make explicit a width threshold τ with the property that (a) all corridors of width at least τ admit a unit-curvature traversal and (b) for any width w < τ there exist corridors of width w with no such traversal. Applications to the design of short, but not necessarily shortest, and high clearance, but not necessarily maximum clearance, curvature-bounded paths in general polygonal domains, are also discussed.
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Index Terms
- Curvature-bounded traversals of narrow corridors
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