A low-complexity algorithm for shortest Dubins paths with intermediate via points
Gianfranco Parlangeli · 2019
In this paper we propose a low-complexity algorithm for the selection of the shortest path for a Dubins' vehicle passing through an intermediate point without a prescribed direction based on a novel approach. This problem has been studied in the last years, the solution proposed in this paper is constructive and it leads to a fast and low-complexity algorithm that can be easily implemented for on-line applications. Some examples and simulation results are reported to put in evidence the effectiveness of the solution proposed.