https://github.com/micycle1/dubins-curves

Path generation for the Dubin's car; a Java port of the C++ Dubins-Curves
https://github.com/micycle1/dubins-curves

dubins dubins-curve dubins-path

Last synced: 2 days ago
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Path generation for the Dubin's car; a Java port of the C++ Dubins-Curves

• Host: GitHub
• URL: https://github.com/micycle1/dubins-curves
• Owner: micycle1
• Created: 2022-05-03T16:26:24.000Z (over 2 years ago)
• Default Branch: master
• Last Pushed: 2024-07-29T02:05:49.000Z (4 months ago)
• Last Synced: 2024-07-29T03:38:58.016Z (4 months ago)
• Topics: dubins, dubins-curve, dubins-path
• Language: Java
• Homepage:
• Size: 1.77 MB
• Stars: 1
• Watchers: 4
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
[![](https://jitpack.io/v/micycle1/Dubins-Curves.svg)](https://jitpack.io/#micycle1/Dubins-Curves)

# Dubins-Curves

This software finds the shortest paths between configurations for the Dubins' car, the forward-only car-like vehicle with a constrained turning radius.

This a Java port of the [original C++](https://github.com/AndrewWalker/Dubins-Curves) code by Andrew Walker.

## Background

* A Dubins path is the shortest curve that connects two points in the 2D plane, with a constraint on the curvature of the path and with prescribed initial and terminal tangents to the path (or heading angles).

* Dubins paths consist of 3 adjoined segments, that can be either left-curving, right-curving or straight. There are only 6 combinations of these segments that describe all possible Dubins paths.

* Dubins paths are commonly used in the fields of robotics and control theory as a way to plan paths for wheeled robots, airplanes and underwater vehicles.

## Usage

### Maven/Gradle

This repository is hosted as a Maven/Gradle artifact via [Jitpack](https://jitpack.io/#micycle1/Dubins-Curves).

### Example

The following code snippet demonstrates how to generate intermediate points along the shortest path between a pair of configuration (x, y, theta).

```

import java.util.Arrays;

import micycle.dubinscurves.DubinsPath;

public class DubinsDemo {

	

	public static void main(String[] args) {

		

		double q0[] = { 0, 0, 0 }; // initial configuration

		double q1[] = { 4, 4, Math.PI }; // terminating configuration

		double turning_radius = 1.0;

		double sample_step_size = 0.1;

		DubinsPath path = new DubinsPath(q0, q1, turning_radius);

		path.sampleMany(sample_step_size, (double[] q, double t) -> {

		    System.out.println("q = " + Arrays.toString(q) + ", length = " + t);

		    return 0; // continue sampling

		});

	}

}

```

## Illustrations