2D Dubins path in environments with obstacle

MaRDI QIDQ459722zbMATH OpenFDO

Authors Dongxiao Yang, Didong Li, Huafei Sun

Publication date 13 October 2014

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Automated systems (robots, etc.) in control theory (93C85)

Review text

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.

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(2)

• Curvature-constrained traveling salesman tours for aerial surveillance in scenarios with obstacles
• Neural network algorithm for intercepting targets moving along known trajectories by a Dubins' car

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