球面Dubins车路径规划的路径生成
最优化与控制
2025-04-17 v1
摘要
本文推导了Dubins车在球面上的候选最优路径。具体而言，我们对CGC、CCC、CCCC和CCCCC路径的弧角进行了解析推导，这些路径已被Kumar等人证明取决于车辆转向半径r时为最优。所得表达式用于实现https://github.com/DeepakPrakashKumar/Motion-planning-on-sphere中的算法。
引用
@article{arxiv.2504.11832,
title = {Generation of Paths for Motion Planning for a Dubins Vehicle on Sphere},
author = {Deepak Prakash Kumar and Swaroop Darbha and Satyanarayana Gupta Manyam and David Casbeer},
journal= {arXiv preprint arXiv:2504.11832},
year = {2025}
}