2D Dubins Path in Environments with Obstacle

Dongxiao Yang, Didong Li and Huafei Sun

Mathematical Problems in Engineering, 2013, vol. 2013, 1-6

Abstract:

We recapitulate the achievement about the Dubins path as well as some precise proofs which are important but omitted by Dubins. Then we prove that the shortest path ( -geodesic) in environments with an obstacle consists of no more than five segments, each of which is either an arc or a straight line. To obtain such -geodesic, an effective algorithm is presented followed by a numerical simulation as verification.

Date: 2013
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:291372

DOI: 10.1155/2013/291372

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