Query-Points Visibility Constraint Minimum Link Paths in Simple Polygons

We study the query version of constrained minimum link paths between two points inside a simple polygon P with n vertices such that there is at least one point on the path, visible from a query point. The method is based on partitioning P into a number of faces of equal link distance from a point, called a link-based shortest path map (SPM). Initially, we solve this problem for two given points s, t and a query point q. Then, the proposed solution is extended to a general case for three arbitrary query points s, t and q. In the former, we propose an algorithm with O(n) preprocessing time. Extending this approach for the latter case, we develop an algorithm with O(n3) preprocessing time. The link distance of a q-visible path between s, t as well as the path are provided in time O(log n) and O(m + log n), respectively, for the above two cases, where m is the number of links.