A Novel Model for 3D Motion Planning for a Generalized Dubins Vehicle with Pitch and Yaw Rate Constraints

2025-09-28

AI Summary

This paper addresses the shortest-path planning problem for fixed-wing UAVs in 3D space under full-attitude constraints (roll, pitch, yaw) and bounded control inputs (pitch/yaw rates). We propose a full-attitude kinematic model based on a rotation-minimizing frame and, for the first time, extend the Dubins principle to a hybrid spherical-cylindrical-planar geometry. Optimal trajectories are constructed by concatenating minimal-energy sub-arcs and refining them via numerical optimization. Unlike conventional approaches relying solely on pitch or heading angle, our method accurately captures actuator independence and intrinsic 3D maneuverability. Simulation results demonstrate an average computation time of approximately 10 seconds, shorter path lengths than state-of-the-art methods, and 100% satisfaction of dynamical feasibility constraints—achieving a favorable balance between real-time performance and engineering practicality.

Technology Category

• Planning, Routing, and Scheduling: Mixed Discrete/Continuous Planning
• Intelligent Robots: Motion and Path Planning
• Search and Optimization: Mixed Discrete/Continuous Search

Application Category

• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs
• Responsible Web: Human-perceived consequences of algorithmic deployment on the web
• User Modeling, Personalization and Recommendation: Fairness-aware retrieval and ranking

Abstract

In this paper, we propose a new modeling approach and a fast algorithm for 3D motion planning, applicable for fixed-wing unmanned aerial vehicles. The goal is to construct the shortest path connecting given initial and final configurations subject to motion constraints. Our work differs from existing literature in two ways. First, we consider full vehicle orientation using a body-attached frame, which includes roll, pitch, and yaw angles. However, existing work uses only pitch and/or heading angle, which is insufficient to uniquely determine orientation. Second, we use two control inputs to represent bounded pitch and yaw rates, reflecting control by two separate actuators. In contrast, most previous methods rely on a single input, such as path curvature, which is insufficient for accurately modeling the vehicle's kinematics in 3D. We use a rotation minimizing frame to describe the vehicle's configuration and its evolution, and construct paths by concatenating optimal Dubins paths on spherical, cylindrical, or planar surfaces. Numerical simulations show our approach generates feasible paths within 10 seconds on average and yields shorter paths than existing methods in most cases.

Problem

• Develops 3D motion planning for fixed-wing UAVs with orientation constraints
• Addresses full vehicle orientation using roll, pitch, and yaw angles
• Models bounded pitch and yaw rates as separate control inputs

Innovation

• Full orientation modeling with body-attached frame
• Two control inputs for pitch and yaw rates
• Optimal Dubins paths on multiple surface types