Abstract
Given two oriented points in the plane, we determine and compute the shortest paths of bounded curvature joigning them. This problem has been solved recently, by Dubins in the no-cusp case, and by Reeds and Shepp otherwise. We propose a new solution based on the minimum principle of Pontryagin. Our approach simplifies the proofs and makes clear the global or local nature of the results.
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© 1993 Springer-Verlag Berlin Heidelberg
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Boissonnat, JD., Cérézo, A., Leblond, J. (1993). Shortest paths of bounded curvature in the plane. In: Laugier, C. (eds) Geometric Reasoning for Perception and Action. GRPA 1991. Lecture Notes in Computer Science, vol 708. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-57132-9_1
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DOI: https://doi.org/10.1007/3-540-57132-9_1
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