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	Dubins Path	クォータニオン姿勢
分野	航空宇宙工学	航空宇宙工学
系統	Process / pipeline	Process / pipeline
提唱年	1957	1843
提唱者	Lester Dubins	William Hamilton (quaternions), aerospace engineers
種類	Optimal curve	Mathematical framework
原典	Dubins, L. E. (1957). On curves of minimal length with a constraint on average curvature and with prescribed initial and terminal positions and tangents. American Journal of Mathematics, 79(3), 497–516.	Shuster, M. D. (1993). A survey of attitude representations. Journal of the Astronautical Sciences, 41(4), 439–517.
別名	Dubins curve, RSR path, LSL path	quaternion representation, attitude kinematics, q-vector
関連	3	3
概要	The Dubins path is the shortest curve connecting two points in the plane with prescribed initial and terminal tangent directions, subject to a constraint on curvature. Introduced by Lester Dubins in 1957, it solved a fundamental problem in differential geometry and became essential in motion planning for aircraft, helicopters, and autonomous vehicles. A Dubins path consists of circular arcs and straight line segments arranged in a sequence such as RSR (Right-Straight-Right) or LSL (Left-Straight-Left).	Quaternion attitude representation is a mathematical framework for describing three-dimensional rotations using four-dimensional vectors (quaternions). Superior to Euler angles due to the absence of singularities (gimbal lock), quaternions are the standard representation in modern attitude estimation, spacecraft control, and 3D computer graphics. Quaternion kinematics elegantly expresses how attitude evolves under angular velocity measurements from gyroscopes.