Minimal 3D dubins path with bounded curvature and pitch angle

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dc.creatorPetr Vana
dc.creatorArmando Alves Neto
dc.creatorJan Faigl
dc.creatorDouglas Guimarães Macharet
dc.date.accessioned2025-05-23T12:56:20Z
dc.date.accessioned2025-09-08T23:12:03Z
dc.date.available2025-05-23T12:56:20Z
dc.date.issued2020
dc.identifier.doi10.1109/ICRA40945.2020.9197084
dc.identifier.issn9781728173955
dc.identifier.urihttps://hdl.handle.net/1843/82469
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofInternational Conference on Robotics and Automation (ICRA)
dc.rightsAcesso Restrito
dc.subjectAeronave não tripulada
dc.subject.otherThree-dimensional displays , Two dimensional displays , Turning , Path planning , Atmospheric modeling , Space vehicles , Optimization
dc.subject.otherPitch Angle , Curvature Angle , Dubins Path , Heuristic , Lower Bound , Local Optimum , Computational Requirements , Optimal Path , Final Configuration , Part Of Path , Final Path , Benchmark Instances , Horizontal Part , Angle Of The Vehicle , Hundreds Of Microseconds , Upper Bound , Path Length , Horizontal Plane , Numerical Methods , Feasible Path , Maximum Curvature , Path Generation , Shortest Path , Unmanned Aerial Vehicles , Path Planning , Longitudinal Plane , Geometric Approach , Final Length , Numerous Issues
dc.titleMinimal 3D dubins path with bounded curvature and pitch angle
dc.typeArtigo de evento
local.citation.spage8497
local.description.resumoIn 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.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.departmentICX - DEPARTAMENTO DE CIÊNCIA DA COMPUTAÇÃO
local.publisher.initialsUFMG
local.url.externahttps://ieeexplore.ieee.org/document/9197084

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