On the point-to-point and traveling salesperson problems for Dubins' vehicle

In this paper we study the length of optimal paths for Dubins' vehicle, i.e., a vehicle constrained to move forward along paths of bounded curvature. First, we obtain an upper bound on the optimal length in the point-to-point problem. Next, we consider the corresponding traveling salesperson pr...

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Bibliographic Details
Published in2005 American Control Conference pp. 786 - 791 vol. 2
Main Authors Savla, K., Frazzoli, E., Bullo, F.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2005
Subjects
Approximation algorithms
Automotive engineering
Computer science
Heuristic algorithms
Mathematics
Mobile robots
Operations research
Polynomials
Unmanned aerial vehicles
Upper bound
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ISBN0780390989
9780780390980
9780780390997
0780390997
ISSN0743-1619
DOI10.1109/ACC.2005.1470055

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Summary:In this paper we study the length of optimal paths for Dubins' vehicle, i.e., a vehicle constrained to move forward along paths of bounded curvature. First, we obtain an upper bound on the optimal length in the point-to-point problem. Next, we consider the corresponding traveling salesperson problem (TSP). We provide an algorithm with worst-case performance within a constant factor approximation of the optimum. We also establish an asymptotic bound on the worst-case length of the Dubins' TSP.
Bibliography:SourceType-Conference Papers & Proceedings-1
ObjectType-Conference Paper-1
content type line 25
ISBN:0780390989
9780780390980
9780780390997
0780390997
ISSN:0743-1619
DOI:10.1109/ACC.2005.1470055