تقرير
An Analytic Solution to the 3D CSC Dubins Path Problem
| العنوان: | An Analytic Solution to the 3D CSC Dubins Path Problem |
|---|---|
| المؤلفون: | Baez, Victor M., Navkar, Nikhil, Becker, Aaron T. |
| سنة النشر: | 2024 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics, 70B15 |
| الوصف: | We present an analytic solution to the 3D Dubins path problem for paths composed of an initial circular arc, a straight component, and a final circular arc. These are commonly called CSC paths. By modeling the start and goal configurations of the path as the base frame and final frame of an RRPRR manipulator, we treat this as an inverse kinematics problem. The kinematic features of the 3D Dubins path are built into the constraints of our manipulator model. Furthermore, we show that the number of solutions is not constant, with up to seven valid CSC path solutions even in non-singular regions. An implementation of solution is available at https://github.com/aabecker/dubins3D. Comment: 7 pages, 8 figures, presented at IEEE ICRA https://2024.ieee-icra.org/ 2024 IEEE International Conference on Robotics and Automation in PACIFICO Yokohama May 13th to 17th, 2024 |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2405.08710 |
| رقم الأكسشن: | edsarx.2405.08710 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |