Equivalence of Dubins Path on Sphere with Geographic Coordinates and Moving Frames
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arXiv
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866916356499177472 |
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| author | Kumar, Deepak Prakash Darbha, Swaroop Manyam, Satyanarayana G. Casbeer, David W. Pachter, Meir |
| author_facet | Kumar, Deepak Prakash Darbha, Swaroop Manyam, Satyanarayana G. Casbeer, David W. Pachter, Meir |
| contents | In this article, two methods of addressing path planning for a Dubins vehicle moving on a sphere are considered, wherein either spherical coordinates or a moving frame are considered to describe the vehicle's motion. The primary contribution of this article is to show the equivalence of these two approaches, which in turn shows that the results known for the moving frame-based description transfer to the model utilizing spherical coordinates. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_07206 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Equivalence of Dubins Path on Sphere with Geographic Coordinates and Moving Frames Kumar, Deepak Prakash Darbha, Swaroop Manyam, Satyanarayana G. Casbeer, David W. Pachter, Meir Optimization and Control In this article, two methods of addressing path planning for a Dubins vehicle moving on a sphere are considered, wherein either spherical coordinates or a moving frame are considered to describe the vehicle's motion. The primary contribution of this article is to show the equivalence of these two approaches, which in turn shows that the results known for the moving frame-based description transfer to the model utilizing spherical coordinates. |
| title | Equivalence of Dubins Path on Sphere with Geographic Coordinates and Moving Frames |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2408.07206 |