2D Dubins Path in Environments with Obstacle
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 (R*-geodesic) in environments with an obstacle consists of no more than five segments, each of which is either an arc or a straight lin...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2013-01-01
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| Series: | Mathematical Problems in Engineering |
| Online Access: | http://dx.doi.org/10.1155/2013/291372 |
| Summary: | 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 (R*-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 R*-geodesic, an effective algorithm is presented followed by a numerical simulation as verification. |
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| ISSN: | 1024-123X 1563-5147 |