Shortest Dubins paths through three points

DOI10.1016/J.AUTOMATICA.2019.04.007zbMATH Open1429.93254OpenAlexW2943157449MaRDI QIDQ2280708FDOQ2280708

Authors: Zheng Chen, Tal Shima 

Publication date: 19 December 2019

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2019.04.007

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• Shortest paths of bounded curvature in the plane
• On shortest Dubins path via a circular boundary
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• Bounded-curvature shortest paths through a sequence of points using convex optimization

zbMATH Keywords

traveling salesman problemmotion planningDubins vehicle

Mathematics Subject Classification ID

Combinatorial optimization (90C27) Computational difficulty of problems (lower bounds, completeness, difficulty of approximation, etc.) (68Q17) Application models in control theory (93C95)

Cites Work

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• Polynomial time approximation schemes for Euclidean traveling salesman and other geometric problems
• Accuracy and Stability of Numerical Algorithms
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• On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents
• Coordinate descent algorithms
• Integrated task assignment and path optimization for cooperating uninhabited aerial vehicles using genetic algorithms
• Optimal trajectories of curvature constrained motion in the Hamilton-Jacobi formulation
• On the Dubins Traveling Salesman Problem
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• Optimal control of the thrusted skate
• A method for guidance and control of an autonomous vehicle in problems of border patrolling and obstacle avoidance
• Markov-Dubins path via optimal control theory
• Motion planning algorithms for the Dubins Travelling Salesperson Problem
• Bounded-curvature shortest paths through a sequence of points using convex optimization

Cited In (10)

• Motion planning algorithms for the Dubins Travelling Salesperson Problem
• Time-optimal Dubins trajectory for moving obstacle avoidance
• Time-optimal guidance for intercepting moving targets by Dubins vehicles
• An efficient method to find a shortest path for a car-like robot
• On shortest Dubins path via a circular boundary
• Motion planning for a high order Dubins vehicle
• On Dubins paths to a circle
• Classification of the Dubins set
• 2D Dubins path in environments with obstacle
• Discrete optimization methods to determine trajectories for Dubins' vehicles

Uses Software

• mctoolbox

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