# dubins 0.8.1

Code to generate and manipulate dubins curves

=====

This software finds the shortest paths between configurations for the
Dubin's car, the forward only car-like vehicle with a constrained

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
=======

Sampling of a Dubin's path at finite size sizes

.. code-block:: python

import dubins

q0 = (x0, y0, theta0)
q1 = (x1, y1, theta1)
step_size = 0.5

qs, _ = dubins.sample_dubins_path(q0, q1, r, step_size)

Method
======

A good description of the equations and basic strategies for doing
this are described in the book `Planning Algorithms
<http: planning.cs.uiuc.edu="" node821.html="">`_, by Steven LaValle

The approach adopted here is based on the algebraic solutions to the
Dubins set", however, rather than using the symmetry approach
described in that work, a less efficient generate and test approach is
used.

Various revisions of this code have been used in:

.. code-block:: bibtex

@phdthesis{ Walker:2011,
title = "Hard Real-Time Motion Planning for Autonomous Vehicles",
author = "Andrew Walker",
school = "Swinburne University of Technology",
year = "2011"
}

and in

.. code-block:: bibtex

@phdthesis{ Smart:2008,
title = "Evolutionary Control of Autonomous Underwater Vehicles",
author = "Royce Smart",
school = "RMIT",
year = "2008"
}
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Source 2014-02-19 27KB