Real-Time Dynamic Dubins-Helix Method for 3-D Trajectory Smoothing

	Real-Time Dynamic Dubins-Helix Method for 3-D Trajectory Smoothing
	Wang, Yu; Wang, Shuo; Tan, Min; Zhou, Chao; Wei, Qingping
发表期刊	IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
	2015-03-01
卷号	23 期号:2 页码:730-736
文章类型	Article
摘要	This brief presents the real-time dynamic Dubins-Helix (RDDH) method for trajectory smoothing, which consists of Dubins-Helix trajectory generation and pitch angle smoothing. The generated 3-D trajectory is called the RDDH trajectory. On one hand, the projection of 3-D trajectory on the horizontal plane is partially generated by Dubins path planner such that the curvature radius constraint is satisfied. On the other hand, the Helix curve is constructed to satisfy the pitch angle constraint, even in the case that the initial and final poses are close. Furthermore, by analyzing the relationship between the parameters and the effectiveness of the RDDH trajectory, the smoothing algorithm is designed to obtain appropriate parameters for a shorter and smoother trajectory. In the end, the numerical results show the proposed method can generate an effective trajectory under diverse initial conditions and achieve real-time computation.
关键词	Autonomous System Path Planning Robotics Trajectory Generation
WOS标题词	Science & Technology ; Technology
关键词[WOS]	UNMANNED AIR VEHICLES ; GENETIC ALGORITHM ; PATH GENERATION ; MOBILE ROBOTS ; CURVATURE ; OPTIMIZATION ; CONSTRAINTS ; PLANNER ; UAVS
收录类别	SCI
语种	英语
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic
WOS记录号	WOS:000350341500029
引用统计	被引频次：43[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/8081
专题	复杂系统认知与决策实验室_先进机器人
作者单位	Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Wang, Yu,Wang, Shuo,Tan, Min,et al. Real-Time Dynamic Dubins-Helix Method for 3-D Trajectory Smoothing[J]. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,2015,23(2):730-736.
APA	Wang, Yu,Wang, Shuo,Tan, Min,Zhou, Chao,&Wei, Qingping.(2015).Real-Time Dynamic Dubins-Helix Method for 3-D Trajectory Smoothing.IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY,23(2),730-736.
MLA	Wang, Yu,et al."Real-Time Dynamic Dubins-Helix Method for 3-D Trajectory Smoothing".IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 23.2(2015):730-736.

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