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Real-Time Dynamic Dubins-Helix Method for 3-D Trajectory Smoothing
Wang, Yu; Wang, Shuo; Tan, Min; Zhou, Chao; Wei, Qingping
Source PublicationIEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
2015-03-01
Volume23Issue:2Pages:730-736
SubtypeArticle
AbstractThis 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.
KeywordAutonomous System Path Planning Robotics Trajectory Generation
WOS HeadingsScience & Technology ; Technology
WOS KeywordUNMANNED AIR VEHICLES ; GENETIC ALGORITHM ; PATH GENERATION ; MOBILE ROBOTS ; CURVATURE ; OPTIMIZATION ; CONSTRAINTS ; PLANNER ; UAVS
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000350341500029
Citation statistics
Cited Times:15[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/8081
Collection复杂系统管理与控制国家重点实验室_先进机器人
AffiliationChinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
Recommended Citation
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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