2D Dubins Path in Environments with Obstacle. (11th November 2013)

• Record Type: Journal Article
• Authors: Yang, Dongxiao; Li, Didong; Sun, Huafei
• Other Names: Carlsson John Gunnar Academic Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2013(2013)
• Publication Date: 2013-11-11
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2013/291372
• Languages: English
• ISSNs: 1024-123X

Abstract

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 (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.