Curvature-bounded traversals of narrow corridors

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.

• Type: Conference
• Year: 2005
• Where: COMPGEOM
• Authors: Sergey Bereg, David G. Kirkpatrick
• Keywords: COMPGEOM 2005, Curvature Paths, Discrete Geometry, Unit-curvature Traversal, Width Threshold