Bounded curvature path planning with expected length for Dubins vehicle entering target manifold

2017 ◽  
Vol 97 ◽  
pp. 217-229 ◽  
Author(s):  
Weiran Yao ◽  
Naiming Qi ◽  
Jun Zhao ◽  
Neng Wan
Keyword(s):  
Path Planning ◽  
Bounded Curvature ◽  
Target Manifold ◽  
Dubins Vehicle ◽  
Expected Length

scholarly journals ON SAMPLING BASED METHODS FOR THE DUBINS TRAVELING SALESMAN PROBLEM WITH NEIGHBORHOODS

2015 ◽  
Vol 2 (2) ◽  
pp. 57-61
Author(s):  
Petr Váňa ◽  
Jan Faigl
Keyword(s):  
Path Planning ◽  
Traveling Salesman Problem ◽  
Traveling Salesman ◽  
Computational Time ◽  
Solution Quality ◽  
Goal Region ◽  
Dubins Vehicle ◽  
Proposed Modification ◽  
Dubins Traveling Salesman Problem

In this paper, we address the problem of path planning to visit a set of regions by Dubins vehicle, which is also known as the Dubins Traveling Salesman Problem Neighborhoods (DTSPN). We propose a modification of the existing sampling-based approach to determine increasing number of samples per goal region and thus improve the solution quality if a more computational time is available. The proposed modification of the sampling-based algorithm has been compared with performance of existing approaches for the DTSPN and results of the quality of the found solutions and the required computational time are presented in the paper.

scholarly journals Elastic multi-particle systems for bounded-curvature path planning

2008 ◽  
Author(s):  
Ali Ahmadzadeh ◽  
Ali Jadbabaie ◽  
George J. Pappas ◽  
Vijay Kumar
Keyword(s):  
Path Planning ◽  
Particle Systems ◽  
Bounded Curvature

Combinatorial Motion Planning for a Dubins Vehicle With Precedence Constraints

2009 ◽  
Author(s):  
Paul Oberlin ◽  
Sivakumar Rathinam ◽  
Swaroop Darbha
Keyword(s):  
Path Planning ◽  
Motion Planning ◽  
Combinatorial Problem ◽  
Precedence Constraints ◽  
Partial Ordering ◽  
Planning Problem ◽  
Dual Algorithm ◽  
Motion Constraints ◽  
Dubins Vehicle ◽  
Path Planning Problem

This paper considers a combinatorial motion planning problem of finding a shortest tour for a Dubins’ vehicle that must visit a given set of targets and return to its initial depot while satisfying the motion constraints of the vehicle and the precedence constraints. Precedence constraints restrict the sequence in which a Dubins’ vehicle visits the given set of targets by imposing a partial ordering on the sequence in which the targets must be visited. This problem arises in applications involving fixed wing, Unmanned Aerial Vehicles (UAVs) where the vehicles have fuel and motion constraints. A fixed wing UAV may be modeled as a Dubins’ vehicle that can travel at a constant speed and has an upper bound on its turning rate. This is a difficult problem because it couples the combinatorial problem of optimally visiting a set of targets with the path planning problem of finding the shortest path that satisfies the motion constraints given the sequence in which the targets must be visited. In this paper, the sequence in which the targets must be visited is obtained by solving the combinatorial problem using a split dual algorithm. Using this sequence, the path planning problem is solved using Dynamic Programming. Computational results are given to corroborate the performance of the algorithms.

scholarly journals UNCONDITIONAL WELL-POSEDNESS FOR WAVE MAPS

2012 ◽  
Vol 09 (02) ◽  
pp. 223-237 ◽  
Author(s):  
NADER MASMOUDI ◽  
FABRICE PLANCHON
Keyword(s):  
Uniqueness Theorem ◽  
Coulomb Gauge ◽  
Well Posedness ◽  
Wave Maps ◽  
Natural Class ◽  
Bounded Curvature ◽  
Target Manifold ◽  
The Difference

We prove a uniqueness theorem for solutions to the wave map equation in the natural class, namely (u, ∂tu) ∈ C([0, T); Ḣd/2) × C1([0, T); Ḣd/2-1) in dimension d ≥ 4. This is achieved by estimating the difference of two solutions at a lower regularity level. In order to reduce to the Coulomb gauge, one has to localize the gauge change in suitable cones, as well as to estimate the difference between the frames and connections associated with each solution and to take advantage of the assumption that the target manifold has bounded curvature.

scholarly journals Path planning with Pythagorean-hodograph curves for unmanned or autonomous vehicles

2017 ◽  
Vol 232 (7) ◽  
pp. 1361-1372 ◽  
Author(s):  
Rida T Farouki ◽  
Carlotta Giannelli ◽  
Duccio Mugnaini ◽  
Alessandra Sestini
Keyword(s):  
Path Planning ◽  
Autonomous Vehicles ◽  
Underwater Vehicles ◽  
Constant Speed ◽  
Arc Length ◽  
Exact Methods ◽  
Bounded Curvature ◽  
Curvature Bound ◽  
Pythagorean Hodograph

Pythagorean-hodograph (PH) curves offer distinct advantages in planning curvilinear paths for unmanned or autonomous air, ground, or underwater vehicles. Although several authors have discussed their use in these contexts, prior studies contain misconceptions about the properties of PH curves or invoke heuristic approximate constructions when exact methods are available. To address these issues, the present study provides a basic introduction to the key properties of PH curves, and describes some exact constructions of particular interest in path planning. These include (a) maintenance of minimum safe separations within vehicle swarms; (b) construction of paths of different shape but identical arc length, ensuring simultaneous arrival of vehicles travelling at a constant speed; (c) determination of the curvature extrema of PH paths, and their modification to satisfy a given curvature bound; and (d) construction of curvature-continuous paths of bounded curvature through fields of polygonal obstacles.

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