2D Dubins path in environments with obstacle (Q459722)

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.