On Dubins paths to a circle

Abstract

This paper is concerned with characterizing the shortest path of a Dubins vehicle from a position with a prescribed heading angle to a target circle with the final heading tangential to the target circle. Such a shortest path is of significant importance as it is usually required in real-world scenarios, such as taking a snapshot of a forbidden region or loitering above a ground sensor to collect data by a fixed-wing unmanned aerial vehicle in a minimum time. By applying Pontryagin’s maximum principle, some geometric properties for the shortest path are established without considering any assumption on the relationship between the minimum turning radius and radius of the target circle, showing that the shortest path must lie in a sufficient family of 12 types. By employing those geometric properties, the analytical solution to each type is devised so that the length of each type can be computed in a constant time. In addition, some properties depending on problem parameters are found so that the shortest path can be computed without checking all the 12 types. Finally, some numerical simulations are presented, illustrating and validating the developments of the paper.