This software finds the shortest paths between configurations for the Dubins' car [Dubins57], the forward only car-like vehicle with a constrained turning radius. A good description of the equations and basic strategies for doing this are described in section 15.3.1 "Dubins Curves" of the book "Planning Algorithms" [LaValle06].
The approach used to find paths is based on the algebraic solutions published in [Shkel01]. However, rather than using angular symmetries to improve performance, the simpler approach to test all possible solutions is used here.
This code is primarily a Cython wrapper of https://github.com/AndrewWalker/Dubins-Curves
You can install the latest stable version from PyPI
Or, you can install the latest development version from GitHub
$ pip install git+git://github.com/AndrewWalker/pydubins.git
Discrete Sampling of a Dubin's path at finite step sizes
import dubins q0 = (x0, y0, theta0) q1 = (x1, y1, theta1) turning_radius = 1.0 step_size = 0.5 path = dubins.shortest_path(q0, q1, turning_radius) configurations, _ = path.sample_many(step_size)
This work was completed as part of [Walker11].
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