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https://github.com/AndrewWalker/Dubins-Curves

Path generation for the Dubin's car
https://github.com/AndrewWalker/Dubins-Curves

Last synced: 27 days ago
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Path generation for the Dubin's car

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README 

        
=============

Dubins-Curves

=============



About

=====



This software finds the shortest paths between configurations for the Dubins'

car [Dubins51]_, the forward only car-like vehicle with a constrained turning

radius. A good description of the equations and basic strategies for doing this

are described in section 15.3.1 `"Dubins Curves"

`_ of the book "Planning Algorithms"

[LaValle06]_.



The approach used to find paths is based on the algebraic solutions published

in [Shkel01]_. However, rather than using angular symmetries to improve

performance, the simpler approach to test all possible solutions is used here. 



|build_status| |coverage| |license|



Usage

=====



The recommended approach is to add `dubins.c` and `dubins.h` to your project

and compile with an appropriate build system.  



The repository includes a basic cmake example that demonstrates how to build

and test the library.



Examples

========



The following code snippet demonstrates how to generate intermediate points

along the shortest path between a pair of configuration (x, y, theta).



.. code-block:: c



    #include "dubins.h"

    #include 



    int printConfiguration(double q[3], double x, void* user_data) {

        printf("%f, %f, %f, %f\n", q[0], q[1], q[2], x);

        return 0;

    }



    int main()

    {

        double q0[] = { 0,0,0 };

        double q1[] = { 4,4,3.142 };

        double turning_radius = 1.0;

        DubinsPath path;

        dubins_shortest_path( &path, q0, q1, turning_radius);

        dubins_path_sample_many( &path, 0.1, printConfiguration, NULL);

        return 0;

    }



The following image shows some example paths, and the heading of the vehicle at

each of the intermediate configurations.



.. image:: ./docs/images/samples.png



Other Version

=============



* There is a MATLAB Mex wrapper of this code on the `MathWorks FileExchange `_

* There is a Python wrapper of this code available on `GitHub `_ and on `PyPI `_



Citing

======



If you would like to cite this library in a paper or presentation, the following is recommended:



.. code-block:: bibtex



    @Misc{DubinsCurves,

      author = {Andrew Walker},

      title  = {Dubins-Curves: an open implementation of shortest paths for the forward only car},

      year   = {2008--},

      url    = "https://github.com/AndrewWalker/Dubins-Curves"

    }



Contributors

============



The Dubin's curves library was completed as one small part of [Walker11]_. New

contributions or bug fixes are welcome.



Key contributors to the project include: 



* Francis Valentinis

* Royce Smart - who tested early versions of this code while writing up [Smart08]_.

* Scott Teuscher - who wrote the MATLAB Mex wrapper



License

=======



MIT License. See `LICENSE.txt `_ for details.



References

==========



.. [Dubins51] Dubins, L.E. (July 1957). "On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents". American Journal of Mathematics 79 (3): 497–516

.. [LaValle06] LaValle, S. M. (2006). "Planning Algorithms". Cambridge University Press

.. [Shkel01] Shkel, A. M. and Lumelsky, V. (2001). "Classification of the Dubins set". Robotics and Autonomous Systems 34 (2001) 179–202

.. [Walker11] Walker, A. (2011). "Hard Real-Time Motion Planning for Autonomous Vehicles", PhD thesis, Swinburne University.

.. [Smart08] Royce, S. (2008). "Evolutionary Control of Autonomous Underwater Vehicles". PhD thesis, RMIT



.. |build_status| image:: https://secure.travis-ci.org/AndrewWalker/Dubins-Curves.png?branch=master

   :target: https://travis-ci.org/AndrewWalker/Dubins-Curves

   :alt: Current build status



.. |coverage| image:: https://codecov.io/gh/AndrewWalker/Dubins-Curves/branch/master/graph/badge.svg

   :target: https://codecov.io/gh/AndrewWalker/Dubins-Curves

   :alt: Code coverage shield



.. |license| image:: https://img.shields.io/badge/License-MIT-blue.svg

   :target: http://opensource.org/licenses/MIT

   :alt: license shield