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Flight Planning
Published in Yasmina Bestaoui Sebbane, Multi-UAV Planning and Task Allocation, 2020
The optimal path is essential for path planning. Path planning should produce not only a feasible path, but also the optimal one connecting the initial configuration to the final configuration. In [399], a real-time dynamic Dubins helix method for trajectory smoothing is presented. The projection of 3D trajectory on the horizontal plane is partially generated by Dubins path planner such that the curvature radius constraint is satisfied. The helix curve is constructed to satisfy the pitch angle constraint, even in the case where the initial and final configurations are close.
Optimal refuge chamber position in underground mines based on tree network
Published in International Journal of Injury Control and Safety Promotion, 2023
Zhixuan Shao, Yu Cheng Yang, Mustafa Kumral
An underground mining network is a complex system often with the presence of non-linear paths and declines used as accessing media. Furthermore, as is indicated in the Department of Mines and Petroleum (2013), the task of refuge chamber localization voices the examination of vehicular access, as rescuers could thus reach the accident spots rapidly and save miners’ lives. This study attempts to compass this proposal by incorporating Dubins Path so that the network can be illustrated in a representative manner. As a strategy originally for the two-dimensional plane, Dubins Path intends to find the shortest distance between two given points while meeting the turning radius requirement of the moving object. The path is configured such that each type of Dubins Path is composed of either two curves and one intermediate straight line or three consecutive curves. An example is displayed in Figure 1 below, where the path starts from a right-turn curve and ends with a left-turn curve linked by a straight line.
Efficient unmanned aerial vehicle formation rendezvous trajectory planning using Dubins path and sequential convex programming
Published in Engineering Optimization, 2019
Zhu Wang, Li Liu, Teng Long, Guangtong Xu
To compute the trajectory length approximately, a Dubins path is applied to consider the dynamics performance of fixed-wing UAVs. The Dubins path is the shortest path that satisfies the minimum turning radius between two points along specific orientations. Dubins (1957) proved that the shortest path must be one of the following six candidate paths: RSR, RSL, RLR, LSR, LSL and LRL, as shown in Figure 5. Thus, the Dubins path can be obtained by selecting the shortest one from the six possible paths.