Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Preprint |
| Published: |
2021
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2109.02125 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866929196272451584 |
|---|---|
| author | Chen, Zheng Wang, Kun Lu, Yang |
| author_facet | Chen, Zheng Wang, Kun Lu, Yang |
| contents | The paper is concerned with elongating the shortest curvature-bounded path between two oriented points to an expected length. The elongation of curvature-bounded paths to an expected length is fundamentally important to plan missions for nonholonomic-constrained vehicles in many practical applications, such as coordinating multiple nonholonomic-constrained vehicles to reach a destination simultaneously or performing a mission with a strict time window. In the paper, the explicit conditions for the existence of curvature-bounded paths joining two oriented points with an expected length are established by applying the properties of the reachability set of curvature-bounded paths. These existence conditions are numerically verifiable, allowing readily checking the existence of curvature-bounded paths between two prescribed oriented points with a desired length. In addition, once the existence conditions are met, elongation strategies are provided in the paper to get curvature-bounded paths with expected lengths. Finally, some examples of minimum-time path planning for multiple fixed-wing aerial vehicles to cooperatively achieve a triangle-shaped flight formation are presented, illustrating and verifying the developments of the paper. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2109_02125 |
| institution | arXiv |
| publishDate | 2021 |
| record_format | arxiv |
| spellingShingle | Elongation of Curvature-Bounded Path Chen, Zheng Wang, Kun Lu, Yang Optimization and Control The paper is concerned with elongating the shortest curvature-bounded path between two oriented points to an expected length. The elongation of curvature-bounded paths to an expected length is fundamentally important to plan missions for nonholonomic-constrained vehicles in many practical applications, such as coordinating multiple nonholonomic-constrained vehicles to reach a destination simultaneously or performing a mission with a strict time window. In the paper, the explicit conditions for the existence of curvature-bounded paths joining two oriented points with an expected length are established by applying the properties of the reachability set of curvature-bounded paths. These existence conditions are numerically verifiable, allowing readily checking the existence of curvature-bounded paths between two prescribed oriented points with a desired length. In addition, once the existence conditions are met, elongation strategies are provided in the paper to get curvature-bounded paths with expected lengths. Finally, some examples of minimum-time path planning for multiple fixed-wing aerial vehicles to cooperatively achieve a triangle-shaped flight formation are presented, illustrating and verifying the developments of the paper. |
| title | Elongation of Curvature-Bounded Path |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2109.02125 |