2D Dubins Path in Environments with Obstacle
Dongxiao Yang, Didong Li, Huafei Sun · Mathematical Problems in Engineering · 2013
We recapitulate the achievement about the Dubins path as well as some precise proofs which are important but omitted by Dubins. Then we prove that the shortest path ( R* -geodesic) in environments with an obstacle consists of no more than five segments, each of which is either an arc or a straight line. To obtain such R* -geodesic, an effective algorithm is presented followed by a numerical simulation as verification.