Generation of Paths for Motion Planning for a Dubins Vehicle on Sphere
Fuente:
arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866908322100150272 |
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| author | Kumar, Deepak Prakash Darbha, Swaroop Manyam, Satyanarayana Gupta Casbeer, David |
| author_facet | Kumar, Deepak Prakash Darbha, Swaroop Manyam, Satyanarayana Gupta Casbeer, David |
| contents | In this article, the candidate optimal paths for a Dubins vehicle on a sphere are analytically derived. In particular, the arc angles for segments in $CGC$, $CCC$, $CCCC$, and $CCCCC$ paths, which have previously been shown to be optimal depending on the turning radius $r$ of the vehicle by Kumar \textit{et al.}, are analytically derived. The derived expressions are used for the implementation provided in https://github.com/DeepakPrakashKumar/Motion-planning-on-sphere. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_11832 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Generation of Paths for Motion Planning for a Dubins Vehicle on Sphere Kumar, Deepak Prakash Darbha, Swaroop Manyam, Satyanarayana Gupta Casbeer, David Optimization and Control In this article, the candidate optimal paths for a Dubins vehicle on a sphere are analytically derived. In particular, the arc angles for segments in $CGC$, $CCC$, $CCCC$, and $CCCCC$ paths, which have previously been shown to be optimal depending on the turning radius $r$ of the vehicle by Kumar \textit{et al.}, are analytically derived. The derived expressions are used for the implementation provided in https://github.com/DeepakPrakashKumar/Motion-planning-on-sphere. |
| title | Generation of Paths for Motion Planning for a Dubins Vehicle on Sphere |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2504.11832 |