Generation of Paths for Motion Planning for a Dubins Vehicle on Sphere

2025/04/16 by Deepak Prakash Kumar, Swaroop Darbha, Kumar, Deepak Prakash +5 · 1 citation
Computer Science · Engineering · #Control and Dynamics of Mobile Robots #FOS: Mathematics #Optimization and Control (math.OC) #Robotic Path Planning Algorithms #Spacecraft Dynamics and Control

paper · pdf · doi:10.48550/arxiv.2504.11832

openalex publication_date 2025/04/16 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

In this article, the candidate optimal paths for a Dubins vehicle on a sphere are analytically derived. In particular, the arc angles for segments in CGC, CCC, CCCC, and CCCCC paths, which have previously been shown to be optimal depending on the turning radius r of the vehicle by Kumar et al., are analytically derived. The derived expressions are used for the implementation provided in https://github.com/DeepakPrakashKumar/Motion-planning-on-sphere.

Cited by

• A Novel Model for 3D Motion Planning for a Generalized Dubins Vehicle with Pitch and Yaw Rate Constraints

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