Three-Dimensional Paths Under Curvature Constraint in Short-Range Scenarios

摘要

No AccessEngineering NotesThree-Dimensional Paths Under Curvature Constraint in Short-Range ScenariosRafy Kfir, Gyorgy Hexner and Joseph Z. Ben-AsherRafy KfirTechnion–Israel Institute of Technology, 32000 Haifa, Israel*Graduate Student, Faculty of Aerospace Engineering.Search for more papers by this author, Gyorgy HexnerRafael Advanced Defense Systems, Haifa, Israel†Research Fellow, Rafael Advanced Defense Systems.Search for more papers by this author and Joseph Z. Ben-AsherTechnion–Israel Institute of Technology, 32000 Haifa, Israel‡Professor, Faculty of Aerospace Engineering; .Search for more papers by this authorPublished Online:2 May 2022https://doi.org/10.2514/1.G006218SectionsRead Now ToolsAdd to favoritesDownload citationTrack citations About References [1] Seywald H., Cliff E. M. and Well K. H., “Range Optimal Trajectories for an Aircraft Flying in the Vertical Plane,” Journal of Guidance, Control, and Dynamics, Vol. 17, No. 2, 1994, pp. 389–398. https://doi.org/10.2514/3.21210 LinkGoogle Scholar[2] Lin C. F. and Tsai L. L., “Analytical Solution of Optimal Trajectory-Shaping Guidance,” Journal of Guidance, Control, and Dynamics, Vol. 10, No. 1, 1987, pp. 60–66. https://doi.org/10.2514/3.20181 LinkGoogle Scholar[3] Enright P. J. and Conway B. A., “Discrete Approximations to Optimal Trajectories Using Direct Transcription and Nonlinear Programming,” Journal of Guidance, Control, and Dynamics, Vol. 15, No. 4, 1992, pp. 994–1002. https://doi.org/10.2514/3.20934 LinkGoogle Scholar[4] Dubins L. E., “On Curves of Minimal Length with a Constraint on Average Curvature, and with Prescribed Initial and Terminal Positions and Tangents,” American Journal of Mathematics, Vol. 79, No. 3, 1957, pp. 497–516. https://doi.org/10.2307/2372560 CrossrefGoogle Scholar[5] Yang G. and Kapila V., “Optimal Path Planning for Unmanned Air Vehicles with Kinematic and Tactical Constraints,” IEEE Conference on Decision and Control, Vol. 2, IEEE, New York, 2003, pp. 1301–1306. https://doi.org/10.1109/CDC.2002.1184695 Google Scholar[6] Tang Z. and Ozguner U., “Motion Planning for Multitarget Surveillance with Mobile Sensor Agents,” IEEE Transactions on Robotics, Vol. 21, No. 5, 2005, pp. 898–908. https://doi.org/10.1109/TRO.2005.847567 CrossrefGoogle Scholar[7] Chitsaz H. and LaValle S. M., “Time-Optimal Paths for a Dubins Airplane,” 2007 46th IEEE Conference on Decision and Control, IEEE, New York, 2007, pp. 2379–2384. https://doi.org/10.1109/CDC.2007.4434966 Google Scholar[8] Ambrosino G., Ariola M., Ciniglio U., Corraro F., Pironti A. and Virgilio M., “Algorithms for 3D UAV Path Generation and Tracking,” Proceedings of the 45th IEEE Conference on Decision and Control, IEEE, New York, 2006, pp. 5275–5280. https://doi.org/10.1109/CDC.2006.377555 Google Scholar[9] Shanmugavel M., Tsourdos A., White B. and Zbikowski R., “3D Dubins Sets Based Coordinated Path Planning for Swarm of UAVs,” AIAA Guidance, Navigation, and Control Conference and Exhibit, AIAA Paper 2006-6211, 2006. https://doi.org/10.2514/6.2006-6211 Google Scholar[10] Sussmann H. J., “Shortest 3-Dimensional Paths with a Prescribed Curvature Bound,” Proceedings of 1995 34th IEEE Conference on Decision and Control, Vol. 4, IEEE, New York, 1995, pp. 3306–3312. https://doi.org/10.1109/CDC.1995.478997 Google Scholar[11] Hota S. and Ghose D., “Optimal Geometrical Path in 3D with Curvature Constraint,” 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, New York, 2010, pp. 113–118. https://doi.org/10.1109/IROS.2010.5653663 Google Scholar[12] Indig N., Ben-Asher J. Z. and Sigal E., “Near-Optimal Minimum-Time Guidance Under Spatial Angular Constraint in Atmospheric Flight,” Journal of Guidance, Control, and Dynamics, Vol. 39, No. 7, 2016, pp. 1563–1577. https://doi.org/10.2514/1.G001485 LinkGoogle Scholar[13] Shkel A. M. and Lumelsky V., “Classification of the Dubins Set,” Robotics and Autonomous Systems, Vol. 34, No. 4, 2000, pp. 179–202. https://doi.org/10.1016/S0921-889