https://github.com/AndrewWalker/Dubins-Curves
Path generation for the Dubin's car
https://github.com/AndrewWalker/Dubins-Curves
Last synced: 6 months ago
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Path generation for the Dubin's car
- Host: GitHub
- URL: https://github.com/AndrewWalker/Dubins-Curves
- Owner: AndrewWalker
- License: mit
- Created: 2010-11-08T23:48:38.000Z (almost 15 years ago)
- Default Branch: master
- Last Pushed: 2022-03-10T17:23:20.000Z (over 3 years ago)
- Last Synced: 2024-08-04T02:10:56.819Z (about 1 year ago)
- Language: C++
- Homepage:
- Size: 584 KB
- Stars: 262
- Watchers: 4
- Forks: 86
- Open Issues: 3
-
Metadata Files:
- Readme: README.rst
- License: LICENSE.txt
Awesome Lists containing this project
- AwesomeCppGameDev - Dubins-Curves
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