Related papers: Shortest Dubins Path to a Circle
We formulate a novel planar motion planning problem for a Dubins-Laser system that consists of a Dubins vehicle with an attached controllable laser. The vehicle moves with unit speed and the laser, having a finite range, can rotate in a…
The control of a Dubins Vehicle when subjected to a loss of control effectiveness in the turning rate is considered. A complex state-space representation is used to model the vehicle dynamics. An adaptive control design is proposed, with…
This paper presents the problem of lateral interception by a Dubins car of a target that moves along an a priori known trajectory. This trajectory is given by two coordinates of a planar location and one angle of a heading orientation,…
In this article, a new model for 3D motion planning, applicable to aerial vehicles, is proposed to connect an initial and final configuration subject to pitch rate and yaw rate constraints. The motion planning problem for a…
A turn constrained vehicle is initially located inside a polygon region and desires to escape in minimum time. First, the method of characteristics is used to describe the time-optimal strategies for reaching a line of infinite length.…
This article proposes the first known algorithm that achieves a constant-factor approximation of the minimum length tour for a Dubins' vehicle through $n$ points on the plane. By Dubins' vehicle, we mean a vehicle constrained to move at…
This paper is concerned with a Minimum-Time Intercept Problem (MTIP), for which a Dubins vehicle is guided from a position with a prescribed initial orientation angle to intercept a moving target in minimum time. Some geometric properties…
This work develops feasible path trajectories for a coordinated strike with multiple aircraft in a constrained environment. Using direct orthogonal collocation methods, the two-point boundary value optimal control problem is transcribed…
In this paper, we propose a new modeling approach and a fast algorithm for 3D motion planning, applicable for fixed-wing unmanned aerial vehicles. The goal is to construct the shortest path connecting given initial and final configurations…
This paper investigates the problem of computing a two-dimensional optimal curvature straight line (CS) shortest path for an unmanned aerial vehicle (UAV) to intercept a moving target, with both the UAV (pursuer) and target travelling at…
This paper investigates the problem of planning a minimum-length tour for a three-dimensional Dubins airplane model to visually inspect a series of targets located on the ground or exterior surface of objects in an urban environment.…
Different applications, such as environmental monitoring and military operations, demand the observation of predefined target locations, and an autonomous mobile robot can assist in these tasks. In this context, the Orienteering Problem…
Dubins tours represent a solution of the Dubins Traveling Salesman Problem (DTSP) that is a variant of the optimization routing problem to determine a curvature-constrained shortest path to visit a set of locations such that the path is…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
There is a growing demand for autonomous mobile robots capable of navigating unstructured agricultural environments. Tasks such as weed control in meadows require efficient path planning through an unordered set of coordinates while…
Path planning is a major problem in autonomous vehicles. In recent years, with the increase in applications of Unmanned Aerial Vehicles (UAVs), one of the main challenges is path planning, particularly in adversarial environments. In this…
This paper introduces an exact algorithm for the construction of a shortest curvature-constrained network interconnecting a given set of directed points in the plane and an iterative method for doing so in 3D space. Such a network will be…
Trajectory planning is commonly used as part of a local planner in autonomous driving. This paper considers the problem of planning a continuous-curvature-rate trajectory between fixed start and goal states that minimizes a tunable…
A realistic generalization of the Markov--Dubins problem, which is concerned with finding the shortest planar curve of constrained curvature joining two points with prescribed tangents, is the requirement that the curve passes through a…
This study investigates the problem of traveling salesman problem with circular neighborhood (TSPCN). Instead of cities there are circles and each point on circle can be a potential visiting node. The problem is to find the minimum length…