ABSTRACT
This paper deals with the shortest paths for a car-like robot from an initial configuration (xi ,yi ,0 i) to a goal position (x g,yg). We propose an efficient way to com pute the shortest paths to polygonal obstacles. We then derive the “visibility ” domain in presence of obstacles, i. e. the set of positions reachable from a starting con figuration, by a collision-free shortest path unaffected by the presence of the obstacles.
