Abstract
We study the problem of computing shortest collision-free Dubins paths when turning a corner. We present a sufficient condition for a closed-form solution. Specifically, consider S as the set consisting of paths of the form RSRSR, RSRSL, LSRSR and LSRSL that pass through the interior corner, where sub-paths RSR, RSL, and LSR are elementary Dubins paths composed of segments which are either straight (S) or turning left (L) or right (R). We find the closed-form optimal path around a corner when S is nonempty. Our solution can be used in an efficient path planner, for example, when navigating corridors. It can also be used as a subroutine for planners such as RRTs.
| Original language | English (US) |
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| Title of host publication | 2019 International Conference on Robotics and Automation, ICRA 2019 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 8570-8576 |
| Number of pages | 7 |
| ISBN (Electronic) | 9781538660263 |
| DOIs | |
| State | Published - May 2019 |
| Event | 2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada Duration: May 20 2019 → May 24 2019 |
Publication series
| Name | Proceedings - IEEE International Conference on Robotics and Automation |
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| Volume | 2019-May |
| ISSN (Print) | 1050-4729 |
Conference
| Conference | 2019 International Conference on Robotics and Automation, ICRA 2019 |
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| Country/Territory | Canada |
| City | Montreal |
| Period | 5/20/19 → 5/24/19 |
Bibliographical note
Publisher Copyright:© 2019 IEEE.