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Finding 3D Dubins Paths with Pitch Angle Constraint Using Non-linear Optimization

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00354894" target="_blank" >RIV/68407700:21230/21:00354894 - isvavai.cz</a>

  • Result on the web

    <a href="https://doi.org/10.1109/ECMR50962.2021.9568787" target="_blank" >https://doi.org/10.1109/ECMR50962.2021.9568787</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1109/ECMR50962.2021.9568787" target="_blank" >10.1109/ECMR50962.2021.9568787</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    Finding 3D Dubins Paths with Pitch Angle Constraint Using Non-linear Optimization

  • Original language description

    This paper presents a novel non-linear programming formulation to find the shortest 3D Dubins path with a limited pitch angle. Such a path is suitable for fix-wing aircraft because it satisfies both the minimum turning radius and pitch angle constraints, and thus it is a feasible and smooth path in the 3D space. The proposed method utilizes the existing decoupled approach as an initial solution and improves its quality by dividing the path into small segments with constant curvature. The proposed formulation encodes the path using the direction vectors that significantly reduce the needed optimization variables. Therefore, a path with 100 segments can be optimized in about one second using conventional computational resources. Although the decoupled paths are usually within 2 % from the lower bound, the proposed approach further reduces the gap by about 30 %.

  • 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

    2021

  • Confidentiality

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

Data specific for result type

  • Article name in the collection

    Proceedings of the 10th European Conference on Mobile Robots

  • ISBN

    978-1-6654-1213-1

  • ISSN

  • e-ISSN

  • Number of pages

    6

  • Pages from-to

  • Publisher name

    IEEE

  • Place of publication

    Brussels

  • Event location

    Bonn

  • Event date

    Aug 31, 2021

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article