Reparametrization of 3D CSC Dubins Paths Enabling 2D Search
This paper addresses the Dubins path planning problem for vehicles in 3D space. In particular, we consider the problem of computing CSC paths -- paths that consist of a circular arc (C) followed by a straight segment (S) followed by a circular arc (C). These paths are useful for vehicles such as fix...
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| Main Authors | , , |
|---|---|
| Format | Journal Article |
| Language | English |
| Published |
13.03.2025
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| Subjects | |
| Online Access | Get full text |
| DOI | 10.48550/arxiv.2503.11560 |
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| Abstract | This paper addresses the Dubins path planning problem for vehicles in 3D
space. In particular, we consider the problem of computing CSC paths -- paths
that consist of a circular arc (C) followed by a straight segment (S) followed
by a circular arc (C). These paths are useful for vehicles such as fixed-wing
aircraft and underwater submersibles that are subject to lower bounds on turn
radius. We present a new parameterization that reduces the 3D CSC planning
problem to a search over 2 variables, thus lowering search complexity, while
also providing gradients that assist that search. We use these equations with a
numerical solver to explore numbers and types of solutions computed for a
variety of planar and 3D scenarios. Our method successfully computes CSC paths
for the large majority of test cases, indicating that it could be useful for
future generation of robust, efficient curvature-constrained trajectories. |
|---|---|
| AbstractList | This paper addresses the Dubins path planning problem for vehicles in 3D
space. In particular, we consider the problem of computing CSC paths -- paths
that consist of a circular arc (C) followed by a straight segment (S) followed
by a circular arc (C). These paths are useful for vehicles such as fixed-wing
aircraft and underwater submersibles that are subject to lower bounds on turn
radius. We present a new parameterization that reduces the 3D CSC planning
problem to a search over 2 variables, thus lowering search complexity, while
also providing gradients that assist that search. We use these equations with a
numerical solver to explore numbers and types of solutions computed for a
variety of planar and 3D scenarios. Our method successfully computes CSC paths
for the large majority of test cases, indicating that it could be useful for
future generation of robust, efficient curvature-constrained trajectories. |
| Author | Sung, Cynthia Baryshnikov, Yuliy Xu, Ling |
| Author_xml | – sequence: 1 givenname: Ling surname: Xu fullname: Xu, Ling – sequence: 2 givenname: Yuliy surname: Baryshnikov fullname: Baryshnikov, Yuliy – sequence: 3 givenname: Cynthia surname: Sung fullname: Sung, Cynthia |
| BackLink | https://doi.org/10.48550/arXiv.2503.11560$$DView paper in arXiv |
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| Snippet | This paper addresses the Dubins path planning problem for vehicles in 3D
space. In particular, we consider the problem of computing CSC paths -- paths
that... |
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| SourceType | Open Access Repository |
| SubjectTerms | Computer Science - Robotics |
| Title | Reparametrization of 3D CSC Dubins Paths Enabling 2D Search |
| URI | https://arxiv.org/abs/2503.11560 |
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