This paper presents the implementation of a complete 3-D Dubins-based path planner, including non-coplanar and coplanar poses. Mathematical representation of a Dubins path in 3-dimensions has been extended into a complete planning methodology that provides a suitable solution to the implementation issues typically encountered for such a process. These include the numerical solution of the nonlinear implicit vector equations, as well as handling of non-coplanar and coplanar pose combinations. Since the suggested methodology breaks down for the case of coplanar poses, a complete planner is provided by diagnosing coplanar sets of poses, determining the solution within the plane containing them, and converting the 2-D solution to the 3-D environment.
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