Experimental validation of Dubins model based strategy to determine the optimal path of a Miniature Ground Vehicle (MGV), which is constrained by a bounded turning radius, that would enable it to run onto a given straight line, starting from an arbitrary initial position and orientation. The initial position and orientation is found out using image processing techniques. Then a modification of the Dubins path method is used to obtain the complete optimal solution to this problem in all its generality using a computer. The vehicle will be getting directions from computer and consequently follows the optimum path.

Hardware used: Lego Mindstorms kit, USB Camera

Reference paper: Dubins_Method_Sikha_Hota.pdf