This is a simple MATLAB script to create the shortest Dubins path using simple and easy to understand geometric operations. You can find a more sophisticated approach here.
The script takes two parameters as input, the start and the goal configuration. The configuration is given in x and y coordinates and orientation in degrees. For example:
Dubin([-1; -2; 0], [0; 0; 65])will plot the shortest Dubins path starting from (x,y) = (-1, -2) at an angle of 0° degrees to the endpoint at (x,y) = (0,0) and a final orientation of 65°.
You can leave the final orientation undetermined by setting the goal configuration's orientation to -1.
Please feel free to point out to me any bugs and issues you might bump into.