Reactive Path Planning Approach for Docking Robots in Unknown Environment

Algorithm 1

Dubins curve determination algorithm.

Input:  , ,

Output:  feasible Dubins curve

  (1)  if , are coplanar, then

  (2)   if  , then

  (3)    

  (4)     break

  (5)    end  if

  (6)    if  , then

  (7)    

  (8)     break

  (9)    end  if

  (10) if  ,   and

    , then

  (11)  

  (12)  break

  (13) end  if

  (14) if  ,   and

    ,  then

  (15)  

  (16)   break

  (17) end  if

  (18) 

  (19) break

  (20)  else

  (21) 

  (22) break

  (23)  end  if