Related papers: An Efficient Method for Extracting the Shortest Pa…
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…
This paper presents a method of finding the shortest path for an unmanned aerial vehicle (UAV) flying from an initial point to a target line at a constant altitude. The length of a Dubins path is derived as a function of the final position…
The problem of finding the shortest path for a vehicle visiting a given sequence of target points subject to the motion constraints of the vehicle is an important problem that arises in several monitoring and surveillance applications…
In this paper, we address the problem of computing optimal paths through three consecutive points for the curvature-constrained forward moving Dubins vehicle. Given initial and final configurations of the Dubins vehicle, and a midpoint with…
The Dubins path problem had enormous applications in path planning for autonomous vehicles. In this paper, we consider a generalization of the Dubins path planning problem, which is to find a shortest Dubins path that starts from a given…
A Dubins path is a shortest path with bounded curvature. The seminal result in non-holonomic motion planning is that (in the absence of obstacles) a Dubins path consists either from a circular arc followed by a segment followed by another…
This paper presents a rapid (real time) solution to the minimum-time path planning problem for Dubins vehicles under environmental currents (wind or ocean currents). Real-time solutions are essential in time-critical situations (such as…
Minimising the longest travel distance for a group of mobile robots with interchangeable goals requires knowledge of the shortest length paths between all robots and goal destinations. Determining the exact length of the shortest paths in…
This paper is concerned with determining the shortest path for a pursuer aiming to intercept a moving target travelling at a constant speed. To address this challenge, we introduce an efficient mathematical model outlined as an optimal…
Autonomous agents face the challenge of coordinating multiple tasks (perception, motion planning, controller) which are computationally expensive on a single onboard computer. To utilize the onboard processing capacity optimally, it is…
Computing shortest paths for curvature-constrained Dubins vehicles on the unit sphere is fundamental to many engineering applications, including long-range flight planning, persistent surveillance patterns, and global routing problems where…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
This paper is concerned with the minimum-time path-planning problem for a Dubins airplane under the influence of steady wind. The path-planning problem, by transforming into the air-relative frame, is equivalent to finding the minimum-time…
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…
As UAV popularity soars, so does the mission planning associated with it. The classical approaches suffer from the triple problems of decoupled of task assignment and path planning, poor real-time performance and limited adaptability.…
An autonomous robot with a limited vision range finds a path to the goal in an unknown environment in 2D avoiding polygonal obstacles. In the process of discovering the environmental map, the robot has to return to some positions marked…
In this paper, we propose a new method for path planning to a point for robot in environment with obstacles. The resulting algorithm is implemented as a simple variation of Dijkstra's algorithm. By adding a constraint to the shortest-path,…
Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…
This paper addresses the problem of finding multiple near-optimal, spatially-dissimilar paths that can be considered as alternatives in the decision making process, for finding optimal corridors in which to construct a new road. We further…
This paper formalizes path planning problem for a group of heterogeneous Dubins vehicles performing tasks in a remote fashion and develops a memetic algorithm-based method to effectively produce the paths. In the setting, the vehicles are…