Time-optimal paths for a Dubins airplane

  title={Time-optimal paths for a Dubins airplane},
  author={H. R. Chitsaz and S. LaValle},
  journal={2007 46th IEEE Conference on Decision and Control},
  • H. R. Chitsaz, S. LaValle
  • Published 2007
  • Mathematics, Computer Science
  • 2007 46th IEEE Conference on Decision and Control
  • We consider finding a time-optimal trajectory for an airplane from some starting point and orientation to some final point and orientation. Our model extends the Dubins car by L.E. Dubins (1957) to have altitude, which leads to Dubins airplane. We assume that the system has independent bounded control over the altitude velocity as well as the turning rate in the plane. Through the use of the Pontryagin Maximum Principle, we characterize the time-optimal trajectories for the system. They are… CONTINUE READING
    214 Citations
    Geometric Modeling of Dubins Airplane Movement and its Metric
    • 1
    • PDF
    Parametrization of nonlinear trajectory for time optimal 2D path planning for Unmanned Aerial Vehicles
    • 4
    Rectilinear Path Following in 3D Space
    • 7
    Time-Optimal Motion of Spatial Dubins Systems
    • PDF
    Optimal path planning for an aerial vehicle in 3D space
    • 33
    Time-Optimal Paths for a Dubins Car and Dubins Airplane with a Unidirectional Turning Constraint.
    • 12
    • Highly Influenced


    Optimal path planning on matrix Lie groups
    • 92
    • Highly Influential
    • PDF
    Obstacle distance for car-like robots
    • 93
    • PDF
    Shortest paths synthesis for a car-like robot
    • 261
    Shortest paths to obstacles for a polygonal car-like robot
    • 12
    Shortest Paths for a Car-like Robot to Manifolds in Configuration Space
    • 37
    Planning smooth paths for mobile robots
    • Paul E. Jacobs, J. Canny
    • Mathematics, Computer Science
    • Proceedings, 1989 International Conference on Robotics and Automation
    • 1989
    • 283
    • PDF
    Optimal path planning for unmanned air vehicles with kinematic and tactical constraints
    • Guang Yang, V. Kapila
    • Computer Science
    • Proceedings of the 41st IEEE Conference on Decision and Control, 2002.
    • 2002
    • 167
    Planning constrained motion
    • 138
    Time optimal paths for a mobile robot with one trailer
    • M. Chyba, S. Sekhavat
    • Mathematics, Computer Science
    • Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)
    • 1999
    • 26