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

12 Citations (Scopus)

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

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 14 Life Below Water

Keywords

Motion and path planning
nonholonomic motion planning
motion control
marine robotics

Access to Document

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 - Viel, Christophe

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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.

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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

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JO - IEEE Robotics and Automation Letters

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ER -

Restricted Orientation Dubins Path With Application to Sailboats

Abstract

UN SDGs

Keywords

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