On the Length of Dubins Path with Any Initial and Terminal Configurations
نویسندگان
چکیده
Dubins has proved in 1957 that the minimum length path between an initial and a terminal configuration can be found among the six paths {LSL, RSR, LSR, RSL, RLR, LRL}. Skel and Lumelsky have studied the length of Dubins path with the initial configuration (0, 0; α) and the terminal configuration (d, 0; β) and the minimal turning radius ρ=1 in 2001. We extended the Skel and Lumelsky’s results to the case that the initial and terminal configuration is 0 0 ( , ; ) x y α , 1 1 ( , ; ) x y β , respectively (where 0 0 1 1 , , , x y x y ∈ R ), and the minimal turning radius is 0 ρ > .
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