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)|
|Title of host publication||2019 International Conference on Robotics and Automation, ICRA 2019|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||7|
|State||Published - May 2019|
|Event||2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada|
Duration: May 20 2019 → May 24 2019
|Name||Proceedings - IEEE International Conference on Robotics and Automation|
|Conference||2019 International Conference on Robotics and Automation, ICRA 2019|
|Period||5/20/19 → 5/24/19|
Bibliographical noteFunding Information:
VIII. ACKNOWLEDGEMENTS This paper was the result of a National Science Foundation Research Experience for Undergraduates (REU) fellowship during the summer of 2018 for the awards #1525045 and #1617718.
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