Motion planning for a high order Dubins vehicle

DOI10.1002/ASJC.2900MaRDI QIDQ6580929zbMATH OpenFDO

Authors Yuanyuan Liu, Wei Zhang

Publication date 30 July 2024

Published in Asian Journal of Control (Search for Journal in Brave)

zbMATH Keywords

motion planningFrenet framealgebraic equationsDubins vehicle

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Motion planning algorithms for the Dubins Travelling Salesperson Problem
• Classification of the Dubins set
• Optimal planning for coordinated vehicles with bounded curvature.
• Shortest Dubins paths through three points

Cites work

• scientific article; zbMATH DE number 426007 (Why is no real title available?)
• A global steering method for nonholonomic systems
• A simple proof of the Pontryagin maximum principle on manifolds
• An Application of the Maximum Principle to the Geometry of Plane Curves
• Analysis and design of nonlinear control systems.
• Control of nonholonomic systems: from sub-Riemannian geometry to motion planning
• Controllability and motion algorithms for underactuated Lagrangian systems on Lie groups
• Elementary Differential Geometry
• Elementary differential geometry
• Flatness and defect of non-linear systems: introductory theory and examples
• Motion control of drift-free, left-invariant systems on Lie groups
• Necessary and sufficient condition for global controllability of nonlinear systems
• Nonholonomic motion planning: steering using sinusoids
• On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents
• On the Dubins Traveling Salesman Problem
• Optimal paths for a car that goes both forwards and backwards
• Shortest paths of bounded curvature in the plane

Cited in

(1)

• Three-dimensional reachability set for a Dubins car: reduction of the general case of rotation constraints to the canonical case

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