Shortest Paths of Bounded Curvature for the Dubins Interval Problem
arXiv:1507.06980v22 citations
Originality Incremental advance
AI Analysis
This work addresses a specific problem in robotics and motion planning, likely incremental as it builds on existing Dubins path methods.
The paper tackles the Dubins interval problem by finding the shortest path of bounded curvature between two targets with constrained departure and arrival angles, proposing a new and simple algorithm based on Pontryagin's minimum principle.
The Dubins interval problem aims to find the shortest path of bounded curvature between two targets such that the departure angle from the first target and the arrival angle at the second target are constrained to two respective intervals. We propose a new and a simple algorithm to this problem based on the minimum principle of Pontryagin.