Generalization of Shortest Path Map

We consider the problem of constructing shortest path maps in two dimensions under angle constraint. Shortest path maps are used for planning short length paths from a fixed source point s to varying goal points. In the standard shortest path map the implied shortest paths can have any turn angle. Such paths may not be acceptable for planning routes for robotic vehicles with limited turn-radius. We propose a modified shortest path map that can be used for planning turn-constrained collision-free paths. We present a simple algorithm for constructing turned-constrained shortest path maps and discuss interesting extensions.