发表机构
Department of Electrical Engineering and Computer Sciences, University of California, Berkeley（加利福尼亚大学伯克利分校电气工程与计算机科学系）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究具有不对称爬升率的最短时间杜宾斯飞机路径问题，提出考虑不对称爬升率的路径，重新审视时间最优性条件，通过该方法可利用飞行器全部性能，减少最短时间并加快在复杂任务中找到中位数解的时间，还通过实际飞行证明了实用性。
AI 中文摘要
杜宾斯飞机路径通过最小曲率和爬升率约束来近似固定翼飞行器的有限机动性。然而，对称爬升率约束导致路径次优和飞行器性能保守。本文提出了不对称杜宾斯飞机路径，考虑了爬升和下降时的不对称爬升率。重新审视了时间最优性条件，表明不对称飞行路径角约束保持最优性。通过考虑不对称爬升率，可利用飞行器的全部性能，连接随机生成状态时将最短时间减少71%。在崎岖地形的基于采样的规划任务中，由于增加了可行性，额外的爬升率使找到中位数解时间快2.8倍。还通过实际飞行证明了该方法的实用性。
英文摘要
Dubins airplane paths approximate the limited maneuverability of fixed-wing vehicles with minimum curvature and climb rate constraints. However, the symmetric climb rate constraints result in sub-optimal paths and conservative vehicle performance. In this work, we propose asymmetric Dubins airplane paths, which consider asymmetric climb rates for climbing and descending. We revisit the time optimality conditions and show that the asymmetric flight path angle constraints preserve optimality. We show that by considering asymmetric climb rates, we can take advantage of full performance of the vehicle, reducing the minimum time by 71% for connecting randomly generated states. We also demonstrate that the added climb rate results in 2.8 times faster to find the median solution time when integrated into a sampling-based planning task on rugged terrain, due to the added feasibility. We further demonstrate the practicality of the approach with a real-world flight.
Comments7 pages, 10 figures
