Papers › Generation of Paths for Motion Planning for a Dubins Vehicle on Sphere
Generation of Paths for Motion Planning for a Dubins Vehicle on Sphere
Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana Gupta Manyam, David Casbeer
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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.
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