Dubins paths through a sequence of points: Lower and upper bounds

@article{Manyam2016DubinsPT,
  title={Dubins paths through a sequence of points: Lower and upper bounds},
  author={Satyanarayana G. Manyam and Sivakumar Rathinam and David W. Casbeer},
  journal={2016 International Conference on Unmanned Aircraft Systems (ICUAS)},
  year={2016},
  pages={284-291}
}
This article addresses an important path planning problem for robots and Unmanned Aerial Vehicles (UAVs) which aims to find a shortest path of bounded curvature passing through a given sequence of target points on a ground plane. Currently, there is no algorithm that can compute an optimal solution to this problem. Therefore, tight lower bounds are vital in determining the quality of any feasible solution to this problem. Novel tight lower bounding algorithms are presented in this article by… CONTINUE READING