Restricted Orientation Dubins Path With Application to Sailboats

Abstract

This paper develops a geometrical construction of the shortest Dubins path in a discontinuous orientation-restricted environment. The method proposed here builds the shortest path from one pose to the other while avoiding a no-go zone in terms of orientation, and being constrained to move forward. Finally, an application to autonomous sailboats is then provided to validate the feasibility of the planned shortest path in a position keeping scenario.

A Path-Planning Method for UAV Swarm under Multiple Environmental Threats

“…The Dubins path [19,20] ensures that the drone can smoothly turn in the shortest path, improving the efficiency of mission planning for long-distance flights. Based on the Dubins path, the authors of [21] implemented a path-planning method under the constraints of restricted areas and directional constraints to achieve the goal of planning the shortest path under complex constraints. In [22], the authors used the wolf algorithm to optimize the angle control of the drone under the requirements of the Dubins path, resulting in a minimum cost.…”