2D Dubins path in environments with obstacle (Q459722)
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scientific article; zbMATH DE number 6354209
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | 2D Dubins path in environments with obstacle |
scientific article; zbMATH DE number 6354209 |
Statements
2D Dubins path in environments with obstacle (English)
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13 October 2014
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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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