Related papers: Optimal Geodesic Curvature Constrained Dubins' Pat…
In this article, we consider the motion planning of a rigid object on the unit sphere with a unit speed. The motion of the object is constrained by the maximum absolute value, $U_{max}$ of geodesic curvature of its path; this constrains the…
In this paper, motion planning for a Dubins vehicle on a unit sphere to attain a desired final location is considered. The radius of the Dubins path on the sphere is lower bounded by $r$. In a previous study, this problem was addressed,…
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…
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…
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 article studies the time-optimal path planning problem for a convexified Reeds-Shepp (CRS) vehicle on a unit sphere, capable of both forward and backward motion, with speed bounded in magnitude by 1 and turning rate bounded in…
In this article, the candidate optimal paths for a Dubins vehicle on a sphere are analytically derived. In particular, the arc angles for segments in $CGC$, $CCC$, $CCCC$, and $CCCCC$ paths, which have previously been shown to be optimal…
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…
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…
We present a path planning problem for a pursuer to intercept a target traveling on a circle. The pursuer considered here has limited yaw rate, and therefore its path should satisfy the kinematic constraints. We assume that the distance…
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…
In addition to the theoretical value of challenging optimal control problmes, recent progress in autonomous vehicles mandates further research in optimal motion planning for wheeled vehicles. Since current numerical optimal control…
We consider the motion planning of an object in a Riemannian manifold where the object is steered from an initial point to a final point utilizing optimal control. Considering Pontryagin Minimization Principle we compute the Optimal…
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…
In this paper, we present strategies for designing curvature-bounded trajectories of any desired length between any two given oriented points. The proposed trajectory is constructed by the concatenation of three circular arcs of varying…
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…
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…
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…
We consider the problem of a particle traveling from an initial configuration to a final configuration (given by a point in the plane along with a prescribed velocity vector) in minimum time with non-homogeneous velocity and with…
This paper presents the reachability analysis of curves in $\mathbb{R}^3$ with a prescribed curvature bound. Based on Pontryagin Maximum Principle, we leverage the existing knowledge on the structure of solutions to minimum-time problems,…