diff --git a/kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/DubinsObstacle.kt b/kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/DubinsObstacle.kt
index 896803fba..ee0b58a15 100644
--- a/kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/DubinsObstacle.kt
+++ b/kmath-trajectory/src/commonMain/kotlin/space/kscience/kmath/trajectory/DubinsObstacle.kt
@@ -255,7 +255,6 @@ private fun constructTangentCircles(point: DoubleVector2D,
     val center1 = point + normalVectors(direction, r).first
     val center2 = point + normalVectors(direction, r).second
     val p1 = center1 - point
-    val p2 = center2 - point
     return if (atan2(p1.y, p1.x) - atan2(direction.y, direction.x) in listOf(PI/2, -3*PI/2)) {
         mapOf(DubinsPath.SimpleType.L to Circle2D(center1, r),
             DubinsPath.SimpleType.R to Circle2D(center2, r))
diff --git a/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/DubinsTest.kt b/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/DubinsTest.kt
index a78a5317d..07e9861c7 100644
--- a/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/DubinsTest.kt
+++ b/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/DubinsTest.kt
@@ -7,7 +7,10 @@ package space.kscience.kmath.trajectory
 
 import space.kscience.kmath.geometry.Circle2D
 import space.kscience.kmath.geometry.Euclidean2DSpace.vector
+import space.kscience.kmath.geometry.equalsFloat
 import kotlin.test.Test
+import kotlin.test.assertEquals
+import kotlin.test.assertTrue
 
 class DubinsTest {
     @Test
@@ -31,7 +34,7 @@ class DubinsTest {
             finalRadius,
             obstacles)
         val length = pathLength(shortestPath(outputTangents))
-        println(length)
+        assertEquals(length, 27.2113183, 1e-6)
     }
 
     @Test
@@ -65,19 +68,7 @@ class DubinsTest {
             finalRadius,
             obstacles)
         val length = pathLength(shortestPath(paths))
-        println(length)
-        for (path in paths) {
-            println(pathLength(path))
-            println(path.size)
-            for (tangent in path) {
-//                println(tangent.route)
-//                println(tangent.startCircle)
-//                println(tangent.endCircle)
-//                println(Euclidean2DSpace.norm(tangent.lineSegment.end - tangent.lineSegment.begin))
-            }
-            println()
-            println()
-        }
+        assertEquals(length,28.9678224, 1e-6)
     }
     @Test
     fun equalCircles() {
diff --git a/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/TangentTest.kt b/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/TangentTest.kt
index 6d4493124..2ae89038c 100644
--- a/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/TangentTest.kt
+++ b/kmath-trajectory/src/commonTest/kotlin/space/kscience/kmath/trajectory/TangentTest.kt
@@ -12,6 +12,7 @@ import space.kscience.kmath.geometry.LineSegment
 import space.kscience.kmath.geometry.equalsLine
 import kotlin.test.Test
 import kotlin.test.assertEquals
+import kotlin.test.assertFailsWith
 import kotlin.test.assertTrue
 
 class TangentTest {
@@ -60,18 +61,4 @@ class TangentTest {
         val c2 = Circle2D(vector(0.0, 0.0), 1.0)
         assertEquals(emptyMap(), c1.tangentsToCircle(c2))
     }
-//
-//    @Test
-//    fun nonExistingTangents() {
-//        assertFailsWith<NotImplementedError> {
-//            val c1 = Circle2D(vector(0.0, 0.0), 1.0)
-//            val c2 = Circle2D(vector(2.0, 0.0), 1.0)
-//            c1.tangentsToCircle(c2)
-//        }
-//        assertFailsWith<NotImplementedError> {
-//            val c1 = Circle2D(vector(0.0, 0.0), 1.0)
-//            val c2 = Circle2D(vector(0.5, 0.0), 1.0)
-//            c1.tangentsToCircle(c2)
-//        }
-//    }
 }
\ No newline at end of file