Abstract
A new solution to the multipoint Markov-Dubins problem via iterative dynamic programming is herein presented. The shortest path problem connecting a sequence of given points in the plane while maintaining angle continuity and bounded curvature is presented. As in the classic two points Dubins problem, the solution is a juxtaposition of line segments and circle arcs. This problem is relevant for the path planning of a non-holonomic robot, such as a wheeled vehicle. The proposed method is robust and computationally inexpensive with respect to existing solutions and is therefore suitable to be integrated as motion primitive into Dubins-based applications, e.g. orienteering problems or waypoint following robotics.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
