DocumentCode
3178602
Title
Shortest paths of bounded curvature in the plane
Author
Boissonnat, Jean-Daniel ; Cérézo, André ; Leblond, Juliette
Author_Institution
INRIA, Valbonne, France
fYear
1992
fDate
12-14 May 1992
Firstpage
2315
Abstract
Given two oriented points in the plane, the authors determine and compute the shortest paths of bounded curvature joining them. This problem has been solved by L.E. Dubins (1957) in the no-cusp case, and by J.A. Reeds and L.A. Shepp (1990) with cusps. A solution based on the minimum principle of Pontryagin is proposed. The approach simplifies the proofs and makes clear the global or local nature of the results. The no-cusp case and the more difficult case with cusps are discussed
Keywords
geometry; minimisation; minimum principle; bounded curvature; cusps; minimum principle; shortest paths; Clocks; Control systems; Gears; Motion planning; Optimal control; Rail transportation; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location
Nice
Print_ISBN
0-8186-2720-4
Type
conf
DOI
10.1109/ROBOT.1992.220117
Filename
220117
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