자동차형 로봇의 전방향 최단거리 이동경로 생성을 위한 알고리즘

Shortest Dubins Path Generation Algorithm for a Car-like Robot

This paper proposes a decision criteria for selecting the shortest path from Dubins set between the initial and final configurations of a car-like robot. The suggested scheme is a very simple and computational savings without explicitly calculating the candidate paths and having a complicated decision table. Equations for calculating the shortest path are derived in simple form with coordinate transform and defining standard forms.