2026-07-072026-07-07http://salesiana.dossiersoluciones.com/handle/123456789/33285We consider the motion planning problem for a point constrained to move along a smooth closed convex path of bounded curvature. The workspace of the moving point is bounded by a convex polygon with m vertices, containing an obstacle in a form of a simple polygon with $n$ vertices. We present an O(m+n) time algorithm finding the path, going around the obstacle, whose curvature is the smallest possible.11 pages, 5 figures, abstract presented at European Symposium on Algorithms 1993Computational GeometryF.2.2; I.3.5text