https://github.com/cisprague/dubins

Dubin's car planning challenge in pure Python.
https://github.com/cisprague/dubins

dubins kth planning robotics

Last synced: 2 months ago
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Dubin's car planning challenge in pure Python.

• Host: GitHub
• URL: https://github.com/cisprague/dubins
• Owner: cisprague
• License: agpl-3.0
• Created: 2018-08-13T00:56:03.000Z (almost 8 years ago)
• Default Branch: master
• Last Pushed: 2023-06-08T10:11:05.000Z (about 3 years ago)
• Last Synced: 2025-05-31T22:36:36.416Z (about 1 year ago)
• Topics: dubins, kth, planning, robotics
• Language: Jupyter Notebook
• Homepage:
• Size: 2.5 MB
• Stars: 2
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# Robotic Planning Assignment for [DD2410 Introduction to Robotics](https://www.kth.se/student/kurser/kurs/DD2410?l=en)

- [Installation](doc/install.md)

- [API](doc/api.md)

- [Assignment](doc/assignment.md)

- [Tutorial](https://cisprague.github.io/kth-dd2410-planning)

## Description

In this assignment we'll consider a constant velocity Dubin's car model, in which the steering angle is the sole control parameter, modelled by the following system of ordinary differential equations:

![](doc/eom.svg)

Our task to **safely** drive the car from its initial position to a target position without colliding with any obstacles or venturing out of bounds. Consider the diagramme below.

![](doc/img/env.svg)