2D Dubins Path in Environments with Obstacle

作者：Dongxiao Yang, Didong Li, Huafei Sun · 发表于：Mathematical Problems in Engineering · 年份：2013 · DOI：10.1155/2013/291372 · 被引用次数：23 · 研究领域：Robotic Path Planning Algorithms、Computational Geometry and Mesh Generation、Guidance and Control Systems

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.