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Novel three-dimensional optimal path planning method for vehicles with constrained pitch and yaw

Published online by Cambridge University Press:  02 November 2016

B. Wehbe ,
S. Bazzi  and
E. Shammas
B. Wehbe
Affiliation:
Department of Mechanical Engineering, American University of Beirut, Beirut, Lebanon. E-mails: [email protected], [email protected]
S. Bazzi
Affiliation:
Department of Mechanical Engineering, American University of Beirut, Beirut, Lebanon. E-mails: [email protected], [email protected]
E. Shammas*
Affiliation:
Department of Mechanical Engineering, American University of Beirut, Beirut, Lebanon. E-mails: [email protected], [email protected]
*
*Corresponding author. E-mail: [email protected]
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Summary

This paper presents a novel method for generating three-dimensional optimal trajectories for a vehicle or body that moves forward at a constant speed and steers in both horizontal and vertical directions. The vehicle's dynamics limit the body-frame pitch and yaw rates; additionally, the climb and decent angles of the vehicle are also bounded. Given the above constraints, the path planning problem is solved geometrically by building upon the two-dimensional Dubins curves and then Pontryagin's Maximum Principle is used to validate that the proposed solution lies within the family of candidate time-optimal trajectories. Finally, given the severe boundedness constraints on the vertical motion of the system, the robustness of the proposed path planning method is validated by naturally extending it to remain applicable to high-altitude final configurations.

Keywords

Three-dimensional path planningTrajectory generationOptimal pathsDubins pathsNon-holonomic motion planningUnderwater autonomous vehicles
Type
Articles
Information
Robotica , Volume 35 , Issue 11 , November 2017 , pp. 2157 - 2176
Copyright
Copyright © Cambridge University Press 2016 

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