Restricted Orientation Dubins Path with Application to Sailboats
international conference on robotics and automation(2019)
摘要
This letter develops a geometrical construction of the shortest Dubins path in a discontinuous orientation-restricted environment. The method proposed here builds the shortest path from one pose to the other while avoiding a no-go zone in terms of orientation, and being constrained to move forward. Finally, an application to autonomous sailboats is then provided to validate the feasibility of the planned shortest path in a position keeping scenario.
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关键词
Turning, Path planning, Face, Indexes, Planning, Robots, Motion and path planning, nonholonomic motion planning, motion control, marine robotics
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