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为快速寻找同一平面内连接带方向两点的最短路径,针对两点距离较短时需考虑因素较多的问题,推导了短距离条件下不同情况Dubins路径的分段连续计算公式,并在此基础上证明了任意距离条件下的Dubins最短路径;完善了Dubins最短路径理论,推动Dubins路径在航迹规划等实际问题中更加广泛的应用,试验结果证明当带方向两点位置确定时根据结论可快速获得连接两点的最短路径。
In order to quickly find the shortest path with two points in the same plane of the connecting strip, aiming at the problem that more factors need to be considered when the distance between two points is short, the continuous calculating formula of Dubins path under different short-distance conditions is deduced. Based on which the Dubins shortest path under arbitrary distance condition is proved. The Dubins shortest path theory is improved and the Dubins path is more widely used in practical problems such as trajectory planning. The experimental results prove that when the position of two points with direction is determined, Quickly get the shortest path connecting two points.