期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 5, 期 2, 页码 2483-2490出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2020.2972787
关键词
Dubins vehicles; multipoint problem; motion planning; path interpolation
类别
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.
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