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
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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
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
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e-ISSN
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Number of pages
6
Pages from-to
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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
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