======
dubins
======
Overview
========
This software finds the shortest paths between configurations for the Dubins' car [Dubins57]_, the forward only car-like vehicle with a constrained turning radius. A good description of the equations and basic strategies for doing this are described in section 15.3.1 `"Dubins Curves" <http://planning.cs.uiuc.edu/node821.html>`_ of the book "Planning Algorithms" [LaValle06]_.
The approach used to find paths is based on the algebraic solutions published in [Shkel01]_. However, rather than using angular symmetries to improve performance, the simpler approach to test all possible solutions is used here.
This code is primarily a Cython wrapper of https://github.com/AndrewWalker/Dubins-Curves
|docs| |build_status| |license|
Installing
==========
You can install the latest stable version from `PyPI <http://pypi.python.org/pypi/dubins>`_
.. code-block:: console
$ pip install dubins
Or, you can install the latest development version from `GitHub <https://github.com/AndrewWalker/pydubins>`_
.. code-block:: console
$ pip install git+git://github.com/AndrewWalker/pydubins.git
Example
=======
Discrete Sampling of a Dubin's path at finite step sizes
.. code-block:: python
import dubins
q0 = (x0, y0, theta0)
q1 = (x1, y1, theta1)
turning_radius = 1.0
step_size = 0.5
path = dubins.shortest_path(q0, q1, turning_radius)
configurations, _ = path.sample_many(step_size)
Acknowledgements
================
This work was completed as part of [Walker11]_.
* Francis Valentinis
* Royce Smart - who tested early versions of this code while completing his PhD thesis [Smart08]_.
References
==========
.. [Dubins57] Dubins, L. E. (July 1957). "On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents". American Journal of Mathematics 79 (3): 497–516
.. [LaValle06] LaValle, S. M. (2006). "Planning Algorithms". Cambridge University Press
.. [Shkel01] Shkel, A. M. and Lumelsky, V. (2001). "Classification of the Dubins set". Robotics and Autonomous Systems 34 (2001) 179–202
.. [Walker11] Walker, A. (2011). "Hard Real-Time Motion Planning for Autonomous Vehicles", PhD thesis, Swinburne University.
.. [Smart08] Royce, S. (2008). "Evolutionary Control of Autonomous Underwater Vehicles". PhD thesis, RMIT
.. |build_status| image:: https://secure.travis-ci.org/AndrewWalker/pydubins.png?branch=master
:target: https://travis-ci.org/AndrewWalker/pydubins
:alt: Current build status
.. |docs| image:: https://readthedocs.org/projects/dubins/badge/?version=latest
:target: http://dubins.readthedocs.org/en/latest/
:alt: Latest documentation
.. |license| image:: https://img.shields.io/badge/License-MIT-blue.svg
:target: http://opensource.org/licenses/MIT
:alt: license shield
