Abstract
Given two oriented points in the plane, we determine and compute the shortest paths of bounded curvature joining them. This problem has been solved recently by Dubins in the no-cusp case, and by Reeds and Shepp otherwise. We propose a new solution based on the minimum principle of Pontryagin. Our approach simplifies the proofs and makes clear the global or local nature of the results.
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Boissonnat, JD., Cérézo, A. & Leblond, J. Shortest paths of bounded curvature in the plane. J Intell Robot Syst 11, 5–20 (1994). https://doi.org/10.1007/BF01258291
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DOI: https://doi.org/10.1007/BF01258291