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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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 %.

Název v anglickém jazyce

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

Popis výsledku anglicky

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 %.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

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

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2021

Kód důvěrnosti údajů

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

Název statě ve sborníku

Proceedings of the 10th European Conference on Mobile Robots

ISBN

978-1-6654-1213-1

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

—

Název nakladatele

IEEE

Místo vydání

Brussels

Místo konání akce

Bonn

Datum konání akce

31. 8. 2021

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—