Restricted Orientation Dubins Path With Application to Sailboats

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

RA-L 201912 citations

Restricted Orientation Dubins Path With Application to Sailboats

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

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.

BibTeX

@inproceedings{ral2019_restrictedorient,
  title = {Restricted Orientation Dubins Path With Application to Sailboats},
  author = {Ulysse Vautier and Christophe Viel and Jian Wan and Luc Jaulin and Robert Hone and Ming Dai},
  booktitle = {RA-L 2019},
  year = {2019}
}