Census of bounded curvature paths

DOI10.1007/S10711-019-00444-2MaRDI QIDQ2290843zbMATH OpenOpenAlexFDO

Authors Yanyan Li

Publication date 29 January 2020

Published in Geometriae Dedicata (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2005.13210

zbMATH Keywords

bounded curvature pathsDubins pathsregular homotopies

Mathematics Subject Classification ID

Curves in Euclidean and related spaces (53A04) Artificial intelligence for robotics (68T40) Kinematics of mechanisms and robots (70B15)

Abstract: A bounded curvature path is a continuously differentiable piece-wise $C^2$ path with bounded absolute curvature connecting two points in the tangent bundle of a surface. These paths have been widely considered in computer science and engineering since the bound on curvature models the trajectory of the motion of robots under turning circle constraints. Analyzing global properties of spaces of bounded curvature paths is not a simple matter since the length variation between length minimizers of arbitrary close endpoints or directions is in many cases discontinuous. In this note, we develop a simple technology allowing us to partition the space of spaces of bounded curvature paths into one-parameter families. These families of spaces are classified in terms of the type of connected components their elements have (homotopy classes, isotopy classes, or isolated points) as we vary a parameter defined in the reals. Consequently, we answer a question raised by Dubins (Pac J Math 11(2), 1961).

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Cites work

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Cited in

(10)

• On the topology of the spaces of curvature constrained plane curves
• Some random paths with angle constraints
• On polygonal paths with bounded discrete-curvature: the inflection-free case
• The classification of homotopy classes of bounded curvature paths
• scientific article; zbMATH DE number 1524176 (Why is no real title available?)
• Classification of the Dubins set
• ISOTOPIC CONVERGENCE THEOREM
• Length minimising bounded curvature paths in homotopy classes
• Curvature-bounded traversals of narrow corridors
• Elongation of curvature-bounded path

Describes a project that uses

Uses Software

• Dubins explorer

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