Real-Time Dynamic Dubins-Helix Method for 3-D Trajectory Smoothing
Wang, Yu; Wang, Shuo; Tan, Min; Zhou, Chao; Wei, Qingping
2015-03-01
发表期刊IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
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:13[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
专题复杂系统管理与控制国家重点实验室_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
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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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