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.
|Journal||IEEE Robotics and Automation Letters|
|Early online date||23 Jul 2019|
|Publication status||Published - Oct 2019|
- Motion and path planning
- nonholonomic motion planning
- motion control
- marine robotics