Module rrt_dubins 

RRT-Dubins path planner

Combines the RRT (Rapidly-exploring Random Tree) algorithm with Dubins curve connections. Instead of straight-line steering between nodes, this planner uses Dubins paths that respect a minimum turning radius constraint.

Each node carries a heading angle (x, y, yaw), and collision checking is performed along the sampled Dubins curve.

References

• LaValle, S.M. (1998). “Rapidly-exploring random trees: A new tool for path planning.”
• Dubins, L.E. (1957). “On Curves of Minimal Length with a Constraint on Average Curvature.”

Structs

RRTDubinsConfig

Configuration for the RRT-Dubins planner.

RRTDubinsNode

A node in the RRT-Dubins tree, carrying position and heading.

RRTDubinsPath

Result of a successful RRT-Dubins planning run.

RRTDubinsPlanner

RRT path planner using Dubins curves for steering.

Functions

sample_dubins_with_yaw

Sample a Dubins path returning separate x, y, yaw vectors.