Moving discs between polygons
An algorithm is given for finding a collision free path for a disc between a collection of polygons having n corners in total. The polygons are fixed and can be preprocessed. One query specifies the radius r of the disc to be moved and start and destination point of the center of the disc. The answer whether a feasible path exists is given in time O(log n). Returning a feasible path is done in additional time proportional to the length of the description of the path. Preprocessing time is O(n log n) and space complexity is O(n).
KeywordsMotion Planning polygonal obstacles computational geometry
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