diff --git a/docs/modules/path_planning/dubins_path/dubins_path.rst b/docs/modules/path_planning/dubins_path/dubins_path.rst
index 5e14820f..6765a846 100644
--- a/docs/modules/path_planning/dubins_path/dubins_path.rst
+++ b/docs/modules/path_planning/dubins_path/dubins_path.rst
@@ -5,7 +5,18 @@ A sample code for Dubins path planning.
 
 .. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/DubinsPath/animation.gif?raw=True
 
-Ref:
+Dubins path
+~~~~~~~~~~~~
+Dubims path is a analyrical path planning algorithm for a simple car model.
 
--  `Dubins path -
-   Wikipedia <https://en.wikipedia.org/wiki/Dubins_path>`__
+It can generates a shortest path between 2D poses (x, y, yaw) with maximum curvture comstraint and tangent(yaw angle) constraint.
+
+
+
+
+
+Reference
+~~~~~~~~~~~~~~~~~~~~
+
+-  `Dubins path - Wikipedia <https://en.wikipedia.org/wiki/Dubins_path>`__
+-  `15.3.1 Dubins Curves <http://planning.cs.uiuc.edu/node821.html>`__