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An Approximation Algorithm for a Shortest Dubins Path Problem

[+] Author Affiliations
Sivakumar Rathinam

Texas A & M University, College Station, TX

Pramod Khargonekar

University of California, Irvine, CA

Paper No. DSCC2016-9798, pp. V002T24A007; 8 pages
doi:10.1115/DSCC2016-9798
From:
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5070-1
  • Copyright © 2016 by ASME

abstract

The problem of finding the shortest path for a vehicle visiting a given sequence of target points subject to the motion constraints of the vehicle is an important problem that arises in several monitoring and surveillance applications involving unmanned aerial vehicles. There is currently no algorithm that can find an optimal solution to this problem. Therefore, heuristics that can find approximate solutions with guarantees on the quality of the solutions are useful. The best approximation algorithm currently available for the case when the distance between any two adjacent target points in the sequence is at least equal to twice the minimum radius of the vehicle has a guarantee of 3.04. This article provides a new approximation algorithm which improves this guarantee to Display Formula1+π32.04. The developed algorithm is also implemented for hundreds of typical instances involving at most 30 points to corroborate the performance of the proposed approach.

Copyright © 2016 by ASME

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