Restricted Orientation Dubins Path With Application to Sailboats

Ulysse Vautier; Christophe Viel; Jian Wan; Luc Jaulin; Robert Hone; Ming Dai

doi:10.1109/LRA.2019.2930424

Restricted Orientation Dubins Path With Application to Sailboats

Ulysse Vautier, Christophe Viel, Jian Wan, Luc Jaulin, Robert Hone, Ming Dai

Mechanical, Biomedical & Design Engineering

Research output: Contribution to journal › Article › peer-review

10 Citations (SciVal)

Abstract

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.

Original language	English
Pages (from-to)	4515-4522
Journal	IEEE Robotics and Automation Letters
Volume	4
Issue number	4
Early online date	23 Jul 2019
DOIs	https://doi.org/10.1109/LRA.2019.2930424
Publication status	Published - Oct 2019

Keywords

Motion and path planning
nonholonomic motion planning
motion control
marine robotics

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10.1109/LRA.2019.2930424

http://hdl.handle.net/10026.1/14737Licence: Unspecified

Cite this

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abstract = "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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AU - Vautier, Ulysse

AU - Viel, Christophe

AU - Wan, Jian

AU - Jaulin, Luc

AU - Hone, Robert

AU - Dai, Ming

PY - 2019/10

Y1 - 2019/10

N2 - 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.

AB - 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.

KW - Motion and path planning

KW - nonholonomic motion planning

KW - motion control

KW - marine robotics

UR - https://ieeexplore.ieee.org/document/8770082

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DO - 10.1109/LRA.2019.2930424

M3 - Article

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JO - IEEE Robotics and Automation Letters

JF - IEEE Robotics and Automation Letters

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ER -

Restricted Orientation Dubins Path With Application to Sailboats

Abstract

Keywords

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