Article
Version 1
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Classification Scheme for the Three-Points Dubins Problem
Version 1
: Received: 12 August 2024 / Approved: 13 August 2024 / Online: 13 August 2024 (14:24:30 CEST)
How to cite: De Palma, D.; Parlangeli, G. Classification Scheme for the Three-Points Dubins Problem. Preprints 2024, 2024080932. https://doi.org/10.20944/preprints202408.0932.v1 De Palma, D.; Parlangeli, G. Classification Scheme for the Three-Points Dubins Problem. Preprints 2024, 2024080932. https://doi.org/10.20944/preprints202408.0932.v1
Abstract
This paper proposes an optimal path type classification scheme for the three-point Dubins problem. It allows to directly extract the shortest path type from a Dubins set, evaluating only the relative initial and final configurations with the via point position using a suitable partition of the Cartesian plane. Two alternative approaches are proposed to address the problem: an analytical approach and a heuristic one. The latter was revealed to be much faster from a computational point of view. The proposed classification logic makes the path planning for the three-point Dubins problem much more effective and suitable for real-time applications. Numerical examples are provided to show the efficiency of the proposed strategy.
Keywords
motion planning algorithms; dubins vehicle; autonomous navigation
Subject
Engineering, Control and Systems Engineering
Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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