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Shortest paths of bounded curvature in the plane (1994)

Boissonnat, Jean-Daniel ; Cérézo, André ; Leblond, Juliette

Springer

Journal of intelligent and robotic systems 11 (1994), S. 5-20

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ISSN: 1573-0409

Keywords: Motion planning ; car-like robots ; constrained shortest paths ; optimal control ; minimum principle of Pontryagin

Source: Springer Online Journal Archives 1860-2000

Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics

Notes: Abstract Given two oriented points in the plane, we determine and compute the shortest paths of bounded curvature joining them. This problem has been solved recently by Dubins in the no-cusp case, and by Reeds and Shepp otherwise. We propose a new solution based on the minimum principle of Pontryagin. Our approach simplifies the proofs and makes clear the global or local nature of the results.

Type of Medium: Electronic Resource

URL: http://dx.doi.org/10.1007/BF01258291

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