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Turn Constrained Path Planning Problems, Victor M. Roman
Turn Constrained Path Planning Problems, Victor M. Roman
UNLV Theses, Dissertations, Professional Papers, and Capstones
We consider the problem of constructing multiple disjoint paths connecting a source point s to a target point t in a geometric graph. We require that the paths do not have any sharp turn angles. We present a review of turn constrained path planning algorithms and also algorithms for constructing disjoint paths. We then combine these techniques and present an O(nlogn) time algorithm for constructing a pair of edge disjoint turn constrained paths connecting two nodes in a planar geometric graph. We also consider the development of a turn constrained shortest path map in the presence of …