Let $S$ be a set of $n$ points in the plane, $\wp(S)$ be the set of all simple polygons crossing $S$, $\gamma_P$ be the maximum angle of polygon $P \in \wp(S)$ and $\theta =min_{ P\in\wp(S)} \gamma_P$. In this paper, we prove that $\theta\leq 2\pi-\frac{ 2\pi}{ r.m}$ where $m$ and $r$ are the number of edges and inner points of the convex hull of $S$, respectively. We also propose an algorithm to construct a polygon with the said upper bound on its angles. Constructing a simple polygon with angular constraint on a given set of points in the plane can be used for path planning in robotics. Moreover, we improve our upper bound on $\theta$ and prove that this is tight for $r=1$.
Categories: cs.CG