Module dubins_path 

Dubins Path Planner

Computes the shortest path between two poses (x, y, yaw) for a forward-only vehicle with a bounded minimum turning radius. Unlike Reeds-Shepp paths, Dubins paths only allow forward motion.

There are exactly 6 candidate path types, each composed of at most 3 segments of Left (L), Right (R), or Straight (S) arcs: LSL, RSR, LSR, RSL, RLR, LRL.

References

• Dubins, L.E. (1957). “On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents”. American Journal of Mathematics, 79(3), 497–516.

Structs

DubinsPath

A computed Dubins path consisting of up to three segments.

DubinsPlanner

Dubins path planner.

Enums

DubinsPathType

One of the six Dubins path type families.

SegmentType

Segment type in a Dubins path.