%0 Journal Article
%T Restricted Orientation Dubins Path with Application to Sailboats
%+ Plymouth University
%+ Lab-STICC_ENSTAB_CID_PRASYS
%+ Zhejiang University of Science and Technology
%A Vautier, Ulysse
%A Viel, Christophe
%A Jaulin, Luc
%A Wan, Jian
%A Hone, Robert
%A Dai, Yong Ming
%< avec comité de lecture
%@ 2377-3766
%J IEEE Robotics and Automation Letters
%I IEEE
%V 4
%N 4
%P 4515 - 4522
%8 2019-10
%D 2019
%R 10.1109/LRA.2019.2930424
%K Indexes
%K Face
%K Path planning
%K Robots
%K Planning
%K Turning
%Z Computer Science [cs]/Automatic Control Engineering
%Z Engineering Sciences [physics]/AutomaticJournal articles
%X This paper develops a geometrical construction of a shortest Dubins path in a discontinuous orientation restricted environment. The method proposed here builds the shortest path from one pose to the other while avoiding a no-go zone in terms of orientation, and being constrained to move forward. Finally, an application to autonomous sailboats is then provided to validate the feasibility of the planned shortest path in a position keeping scenario.
%G English
%L hal-02303355
%U https://hal-ensta-bretagne.archives-ouvertes.fr/hal-02303355
%~ UNIV-BREST
%~ INSTITUT-TELECOM
%~ ENSTA-BRETAGNE
%~ CNRS
%~ UNIV-UBS
%~ ENSTA-BRETAGNE-STIC
%~ ENIB
%~ LAB-STICC
%~ TDS-MACS
%~ INSTITUTS-TELECOM