Dubin's Turning Radius

[AskewParity]

🚀 Feature

Enable path generation using turning radii that is not EXACTLY the minimum turning radius

Motivation

The existing implementation of Dubins will only connect points using a fixed turning radius. What this means generally is that it will create a bunch of loops to connect points instead of using a larger turning radius to directly connect two points.

Pitch

No idea! Here is my existing thoughts (haven't thought very much)

ONLY on the FINAL optimization step, smooth out the curve in order to fix the weird loops.

This doesn't fix the issue, but minimizes its impact of the existing implementation on the final path.

Alternatives

1. Do math to make the dubin's algorithm more efficient
   • note that this will mess with RRT path generation (if dubins is segmented later)
2. Just do multiple dubin's calculations with different turning radii