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
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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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
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Event location
Paris
Event date
May 31, 2020
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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