Real-Time Dynamic Dubins-Helix Method for 3-D Trajectory Smoothing
文献类型：期刊论文
| 作者 | Wang, Yu ; Wang, Shuo; Tan, Min; Zhou, Chao; Wei, Qingping
|
| 刊名 | IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
 |
| 出版日期 | 2015-03-01 |
| 卷号 | 23期号:2页码:730-736 |
| 关键词 | Autonomous system path planning robotics trajectory generation |
| 英文摘要 | 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. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Engineering, Electrical & Electronic |
| 研究领域[WOS] | Automation & Control Systems ; Engineering |
| 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记录号 | WOS:000350341500029 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/8081]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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