Three-Dimensional Paths Under Curvature Constraint in Short-Range Scenarios

What is it about?

The problem of finding the shortest 3-dimensional paths between two sets of position and heading in short-range scenarios is analysed in this work, The exact optimal solution to the problem is shown to result in a complicated numerical problem with non-unique solution. A method of polynomial approximation for the optimal trajectory is developed. This method is compared and validated versus the exact optimal trajectories, shown to be a reliable and efficient algorithm for approximating sub-optimal trajectories of those cases.

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Why is it important?

Optimal trajectories are very useful in aerial vehicles, for goals like minimizing fuel consumption or filght time among other purposes.