Real-time path planning nonholonomic car-like mobile platform dubins shortest path model

Abstract

Dubins curve is implemented in the study to obtain the shortest path for navigation on car-like mobile platform. In order to determine the shortest path between the two positions for a mobile platform, every detail should be taken into consideration. Understanding the concepts behind Dubins model can help us to identify the factors of shortest path planning. Integrating the path planning feature into autonomous vehicle can optimize the vehicles performance especially when the power source is limited. Providing the shortest path allows autonomous vehicles to consume less energy resource compared with other navigation system.