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Time-optimal motion of spatial Dubins systems

EasyChair Preprint no. 728

16 pagesDate: January 14, 2019


This paper presents a generic numerical approach to find the kinematic time-optimal trajectories for 3D rigid bodies with a finite set of translation, rotation, and screw controls, in an obstacle-free space. First, geometric necessary conditions for time-optimality are derived. Second, a method is presented for sampling trajectories satisfying the necessary conditions sufficiently densely to guarantee that for any start configuration and goal location, a trajectory can be found that provably approximately reaches the goal, approximately optimally.

Keyphrases: kinematics, Motion and Path Planning, Optimization and Optimal Control

BibTeX entry
BibTeX does not have the right entry for preprints. This is a hack for producing the correct reference:
  author = {Weifu Wang and Devin Balkcom},
  title = {Time-optimal motion of spatial Dubins systems},
  howpublished = {EasyChair Preprint no. 728},

  year = {EasyChair, 2019}}
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