Coding a Dubins Car Optimal Path Planner

Показать описание

----

Aaron Becker

Рекомендации по теме

Комментарии

Well done! I did my msc thesis on this subject and had a lot of challenges but also fun. You distilled the key concepts really well

Hyrtsi

Great video! But when facing a real problem, the steering wheel have an angular speed, which means that it takes time to turn the wheel to a certain direction. Its particular hard to make a vehicle follow a trajectory when its L -> R or R -> L, because the wheel have to be really fast OR the car to be very slow or stop while turning the wheel

calvinsuzuki

Awesome! I've been trying to figure this out for a game I'm making and this helped immensely. Thank you!

SteakSawSr

Hello thank you for you explaination. but i have a question. Why for LSR we use pythagore to get the straight line length ?

maybe I have a theorie but i let you correct me.
we do hypothenus = distance from center for Lstart to Rend
side = sqrt(hypothenus *hypothenus /2) //cause each side should have the same length

the side length = the straight line between each steering circle

am i right ?

niks

Firstly, great content thanks for that. I have a one question: by looking at the start and finish positions, can we understand which maneuver type should be used? Are there any faster methods than calculating the length of each maneuver type? I'm trying to increase the speed of the my implementation.

yafesenessahiner

at 2:27 how is the maximum turning angle not affected by speed? won't there be a frictional constraint on the maximum centripetal force that can be exerted on the car while following a certain path?

abhigyanganguly

what about combination of backing up with forward driving to eliminate unreachable areas? can you make a tutorial about it? Also problem be solved when it is not constant speed?

hakankosebas

I have a question, why u \in [-1, 1], u should \leq 1, but why u can \geq -1?

longC

Coding a Dubins Car Optimal Path Planner

Coding a Dubins Car Optimal Path Planner

Coding a Reeds-Shepp Car Optimal Path Planner

Dubins Car with Optimal Controller

Sparsity-Inducing Optimal Control via Differential Dynamic Programming

Time-Optimal Path Planning in a Constant Wind for UAVs using Dubins Set Classification

Fast Sequence Rejection for Multi-Goal Planning with Dubins Vehicle (IROS 2020)

Petr Váňa: Optimal solution of the Generalized Dubins Interval Problem

Differential Dynamic Programming (DDP): Dubin's Vehicle

Dubin's Heuristic in a Hybrid A* Algorithm

[Optimal Control] Cart-pole Control using Differential Dynamic Programming

Dubbins Curves

Simple Learned Reactive Controller for Dubins Car, Run 1

Path manager dubins

An Iterative Dynamic Programming Approach to the Multipoint Markov-Dubins Problem

Multi-agent Grasping of Dubins-type Vehicles using a Hybrid Controller

Dubins RRT* Path tracking in PX4 SITL(Software-In-The-Loop) Simulation

Minimal 3D Dubins Path with Bounded Curvature and Pitch Angle (ICRA 2020)

L6 Dubin path

Model Predictive Control (MPC): Dubin's Vehicle

Bounded Rational Dubins Vehicle Coordination for Target Tracking using Reinforcement Learning

ECE 5930 UAV Design 11 Part 2 - Dubins Path

Simple Learned Reactive Controller for Dubins Car, Run 2

Grid Study—Playing with Dubins path

Optimal Algorithm Mobile Robot (Genetic Algorithm + Potential Field + Dubin Curve)