Remember my post on the Dubin’s car? It’s a car that can either go forward, turn fully left, or turn fully right. In that post I explained that the shortest path from one point to another via the Dubin’s car could be described by one of six control sequences. The Reeds-Shepp car is essentially the same thing as the Dubin’s car, except it can also move backwards! This post isn’t quite the comprehensive step-by-step guide as the Dubin’s one, but I’ll give you a great overview of the paths, point you to some great online resources, and give you some tips if you plan on implementing them yourself!

Continue reading “Reeds-Shepp Cars”