摘要：AbstractThis paper addresses the issue of computing the shortest path in the plane connecting two assigned poses (positions and orientations) while crossing an assigned via-point without a prescribed orientation. The problem is a natural extension to the Dubins classical one, and it has been recently considered for the potential applications of its solution on path planning for teams of vehicles, in the presence of obstacles and for the Dubins’ traveling saleman’s problem. The solution that we propose is obtained using mathematical tools from analytic geometry and it provides easily computable algorithms well suited for on-line path planning. The effectiveness of the proposed planning method is validated by worked examples and simulations.
