Real-time Dynamic Path Planning for Dubins´ Nonholonomic Robot

A car-like nonholomonic robot moves in a plane and is subject to an upper bound of curvature for its turning. In this paper, we discuss a novel dynamic path planning algorithm by which the car-like robot could reach any oriented point from another oriented point via the shortest path. The approach features the construction of a pair of accommodation circles describing the left and right turn minimum radius paths of the vehicle. Utilizing this construction, a weak control Lyapunov function is constructed and used to generate a control law. This motion planner provides a real-time state dependent solution with a convergence guarantee