scholarly journals Controllability analysis of a pair of 3D Dubins vehicles in formation

2016 ◽  
Vol 83 ◽  
pp. 94-105
Author(s):  
Hamal Marino ◽  
Paolo Salaris ◽  
Lucia Pallottino
Keyword(s):  
Dubins Vehicles

scholarly journals Improved Performance of Asymptotically Optimal Rapidly Exploring Random Trees

2018 ◽  
Vol 141 (1) ◽  
Author(s):  
Beth Boardman ◽  
Troy Harden ◽  
Sonia Martínez
Keyword(s):  
Degrees Of Freedom ◽  
Metric Spaces ◽  
Dynamic Environments ◽  
Random Trees ◽  
Asymptotically Optimal ◽  
Euclidean Metric ◽  
The Third ◽  
Dubins Vehicle ◽  
Improved Performance ◽  
Dubins Vehicles

Three algorithms that improve the performance of the asymptotically optimal Rapidly exploring Random Tree (RRT*) are presented in this paper. First, we introduce the Goal Tree (GT) algorithm for motion planning in dynamic environments where unexpected obstacles appear sporadically. The GT reuses the previous RRT* by pruning the affected area and then extending the tree by drawing samples from a shadow set. The shadow is the subset of the free configuration space containing all configurations that have geodesics ending at the goal and are in conflict with the new obstacle. Smaller, well defined, sampling regions are considered for Euclidean metric spaces and Dubins' vehicles. Next, the Focused-Refinement (FR) algorithm, which samples with some probability around the first path found by an RRT*, is defined. The third improvement is the Grandparent-Connection (GP) algorithm, which attempts to connect an added vertex directly to its grandparent vertex instead of parent. The GT and GP algorithms are both proven to be asymptotically optimal. Finally, the three algorithms are simulated and compared for a Euclidean metric robot, a Dubins' vehicle, and a seven degrees-of-freedom manipulator.

scholarly journals Shortest paths for Dubins vehicles in presence of via points

2019 ◽  
Vol 52 (8) ◽  
pp. 295-300
Author(s):  
Gianfranco Parlangeli
Keyword(s):  
Shortest Paths ◽  
Dubins Vehicles

scholarly journals Data gathering tour optimization for Dubins' vehicles

2012 ◽  
Author(s):  
Douglas G. Macharet ◽  
Armando Alves Neto ◽  
Vilar F. da Camara Neto ◽  
Mario F. M. Campos
Keyword(s):  
Data Gathering ◽  
Dubins Vehicles

Nonholonomic path planning optimization for Dubins' vehicles

2011 ◽  
Author(s):  
Douglas G. Macharet ◽  
Armando Alves Neto ◽  
Vilar F. da Camara Neto ◽  
Mario F. M. Campos
Keyword(s):  
Path Planning ◽  
Planning Optimization ◽  
Dubins Vehicles
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