Restricted Orientation Dubins Path With Application to Sailboats

Ulysse Vautier, Christophe Viel, Jian Wan, Luc Jaulin, Robert Hone, Ming Dai

Research output: Contribution to journalArticlepeer-review


This letter develops a geometrical construction of the shortest Dubins path in a discontinuous orientation-restricted environment. The method proposed here builds the shortest path from one pose to the other while avoiding a no-go zone in terms of orientation, and being constrained to move forward. Finally, an application to autonomous sailboats is then provided to validate the feasibility of the planned shortest path in a position keeping scenario.
Original languageEnglish
Pages (from-to)4515-4522
JournalIEEE Robotics and Automation Letters
Issue number4
Early online date23 Jul 2019
Publication statusPublished - Oct 2019


  • Motion and path planning
  • nonholonomic motion planning
  • motion control
  • marine robotics


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