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Bounded-Curvature Shortest Paths through a Sequence of Points using Convex Optimization
Abstract : We consider the problem of computing shortest paths having curvature at most one almost everywhere and visiting a sequence of $n$ points in the plane in a given order. This problem is a sub-problem of the Dubins Traveling Salesman Problem and also arises naturally in path planning for point car-like robots in the presence of polygonal obstacles. We show that when consecutive waypoints are distance at least four apart, this question reduces to a family of convex optimization problems over polyhedra in $\mathbb{R}^n$.
Cited literature [33 references]
https://hal.inria.fr/hal-00927100
Contributor : Sylvain Lazard <>
Submitted on : Friday, January 10, 2014 - 7:06:40 PM
Last modification on : Monday, June 24, 2019 - 12:32:04 PM
Contributor : Sylvain Lazard <>
Submitted on : Friday, January 10, 2014 - 7:06:40 PM
Last modification on : Monday, June 24, 2019 - 12:32:04 PM
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