A Julia package to compute the Dubins Paths
Author kaarthiksundar
5 Stars
Updated Last
2 Years Ago
Started In
April 2018


Build Status codecov

Dubins.jl is a Julia package for computing the shortest path between two configurations for the Dubins' vehicle (see Dubins, 1957). The shortest path algorithm, implemented in this package, uses the algebraic solution approach in the paper "Classification of the Dubins set" by Andrei M. Shkel and Vladimir Lumelsky.

All the unit tests and the data structures in this Julia implementation is borrowed from the C implementation and its corresponding python wrapper.

Bugs and support

Please report any issues or feature requests via the Github issue tracker.


The detailed API documentation with examples can be found here.


MIT License. See LICENSE file for details.

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