An Experimental Investigation into Curvature Uncertainties in Executing Piecewise Continuous Dubins Curves in Path Planning

Abstract

This paper presents preliminary investigationsinto quantification of curvature uncertainties in executing piecewise-continuous-curvature curves (PCC-Curves). ThePCC-Curves are widely used in path planning & trajectoryshaping in robotics, CAD, image processing. Dubins curve is one of such curves used in path planning. This paper investigates the difference between reference and actual velocities and their influence in curvature and in turn in final trajectories. The curvature uncertainties are measured using the uncertainties in velocity-pair. A path planning experiment using Dubins paths is conducted to quantify the difference between reference and actual velocities and curvature uncertainties. The results show the error in velocities and their distribution, and uncertainties in curvature.