Shortest path type classification for real-time three-points Dubins problems

This paper addresses the three point Dubins problem using a classification approach, namely by only evaluating the relative initial and final configurations with the via point position using a suitable partition of the Cartesian plane. This allows to promptly choose the path type among the eight possible thus making the path planning for three points Dubins problems much faster and more suitable for real-time applications. Some examples are provided to show the efficiency of the proposed strategy.