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2D Dubins Path in Environments with Obstacle

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  • Dongxiao Yang
  • Didong Li
  • Huafei Sun

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.

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  • Dongxiao Yang & Didong Li & Huafei Sun, 2013. "2D Dubins Path in Environments with Obstacle," Mathematical Problems in Engineering, Hindawi, vol. 2013, pages 1-6, November.
    • Handle: RePEc:hin:jnlmpe:291372
    DOI: 10.1155/2013/291372
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    1. Luis Emmi & Roemi Fernández & Pablo Gonzalez-de-Santos & Matteo Francia & Matteo Golfarelli & Giuliano Vitali & Hendrik Sandmann & Michael Hustedt & Merve Wollweber, 2023. "Exploiting the Internet Resources for Autonomous Robots in Agriculture," Agriculture, MDPI, vol. 13(5), pages 1-22, May.

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