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Minimal 3D Dubins Path with Bounded Curvature and Pitch Angle

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F20%3A00346644" target="_blank" >RIV/68407700:21230/20:00346644 - isvavai.cz</a>

  • Result on the web

    <a href="https://doi.org/10.1109/ICRA40945.2020.9197084" target="_blank" >https://doi.org/10.1109/ICRA40945.2020.9197084</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1109/ICRA40945.2020.9197084" target="_blank" >10.1109/ICRA40945.2020.9197084</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    Minimal 3D Dubins Path with Bounded Curvature and Pitch Angle

  • Original language description

    In this paper, we address the problem of finding cost-efficient three-dimensional paths that satisfy the maximum allowed curvature and the pitch angle of the vehicle. For any given initial and final configurations, the problem is decoupled into finding the horizontal and vertical parts of the path separately. Although the individual paths are modeled as two-dimensional Dubins curves using closed-form solutions, the final 3D path is constructed using the proposed local optimization to find a cost-efficient solution. Moreover, based on the decoupled approach, we provide a lower bound estimation of the optimal path that enables us to determine the quality of the found heuristic solution. The proposed solution has been evaluated using existing benchmark instances and compared with state-of-the-art approaches. Based on the reported results and lower bounds, the proposed approach provides paths close to the optimal solution while the computational requirements are in hundreds of microseconds. Besides, the proposed method provides paths with fewer turns than others, which make them easier to be followed by the vehicle's controller.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

  • OECD FORD branch

    10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Result continuities

  • Project

    Result was created during the realization of more than one project. More information in the Projects tab.

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Others

  • Publication year

    2020

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    IEEE International Conference on Robotics and Automation (ICRA)

  • ISBN

    978-1-7281-7395-5

  • ISSN

    1050-4729

  • e-ISSN

    2577-087X

  • Number of pages

    7

  • Pages from-to

    8497-8503

  • Publisher name

    IEEE Xplore

  • Place of publication

  • Event location

    Paris

  • Event date

    May 31, 2020

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article