Restricted Orientation Dubins Path with Application to Sailboats

Ulysse Vautier (1) , Christophe Viel , Luc Jaulin (2) , Jian Wan (3) , Robert Hone , Yong Ming Dai

1 Plymouth University
2 Lab-STICC_ENSTAB_CID_PRASYS
3 Zhejiang University of Science and Technology

This paper develops a geometrical construction of a shortest Dubins path in a discontinuous orientation restricted environment. The method proposed here builds the shortest path from one pose to the other while avoiding a no-go zone in terms of orientation, and being constrained to move forward. Finally, an application to autonomous sailboats is then provided to validate the feasibility of the planned shortest path in a position keeping scenario.

Mots clés: Indexes; Face; Path planning; Robots; Planning; Turning

Domaines: Automatique; Automatique / Robotique

Ulysse Vautier, Christophe Viel, Luc Jaulin, Jian Wan, Robert Hone, et al.. Restricted Orientation Dubins Path with Application to Sailboats. IEEE Robotics and Automation Letters, 2019, 4 (4), pp.4515 - 4522. ⟨10.1109/LRA.2019.2930424⟩. ⟨hal-02303355⟩