Approximation and decision algorithms for curvature-constrained path planning: a state-space approach

Let $B$ be a point robot in the plane, whose path is constrained to have curvature of at most 1, and let $\Omega$ be a set of polygonal obstacles with n vertices. We study the collision-free, optimal path-planning problem for B. Given a parameter $\...

This paper gives approximation algorithms of solving the following motion planning problem: Given a set of polyhedral obstacles and points s and t, find a shortest path from s to t that avoids the obstacles. The paths found by the algorithms are ...