A new solution to the multipoint Markov-Dubins problem via iterative dynamic programming is herein presented. The shortest path problem connecting a sequence of given points in the plane while maintaining angle continuity and bounded curvature is presented. As in the classic two points Dubins problem, the solution is a juxtaposition of line segments and circle arcs. This problem is relevant for the path planning of a non-holonomic robot, such as a wheeled vehicle. The proposed method is robust and computationally inexpensive with respect to existing solutions and is therefore suitable to be integrated as motion primitive into Dubins-based applications, e.g. orienteering problems or waypoint following robotics.

An Iterative Dynamic Programming Approach to the Multipoint Markov-Dubins Problem / Frego, M.; Bevilacqua, P.; Saccon, E.; Palopoli, L.; Fontanelli, D.. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - ELETTRONICO. - 5:2(2020), pp. 2482-2489. [10.1109/LRA.2020.2972787]

An Iterative Dynamic Programming Approach to the Multipoint Markov-Dubins Problem

Frego M.;Bevilacqua P.;Palopoli L.;Fontanelli D.
2020

Abstract

A new solution to the multipoint Markov-Dubins problem via iterative dynamic programming is herein presented. The shortest path problem connecting a sequence of given points in the plane while maintaining angle continuity and bounded curvature is presented. As in the classic two points Dubins problem, the solution is a juxtaposition of line segments and circle arcs. This problem is relevant for the path planning of a non-holonomic robot, such as a wheeled vehicle. The proposed method is robust and computationally inexpensive with respect to existing solutions and is therefore suitable to be integrated as motion primitive into Dubins-based applications, e.g. orienteering problems or waypoint following robotics.
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Frego, M.; Bevilacqua, P.; Saccon, E.; Palopoli, L.; Fontanelli, D.
An Iterative Dynamic Programming Approach to the Multipoint Markov-Dubins Problem / Frego, M.; Bevilacqua, P.; Saccon, E.; Palopoli, L.; Fontanelli, D.. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - ELETTRONICO. - 5:2(2020), pp. 2482-2489. [10.1109/LRA.2020.2972787]
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11572/257295
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