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arXiv · 2504.11832

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

Deepak Prakash Kumar·Swaroop Darbha·Satyanarayana Gupta Manyam·David Casbeer
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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 \textit{et al.}, are analytically derived. The derived expressions are used for the implementation provided in https://github.com/DeepakPrakashKumar/Motion-planning-on-sphere.

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Deepak Prakash Kumar, Swaroop Darbha, Satyanarayana Gupta Manyam, David Casbeer. 2025-04-16. Generation of Paths for Motion Planning for a Dubins Vehicle on Sphere. https://arxiv.org/abs/2504.11832

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