为固定翼无人机设计3D最短路径规划新方法，考虑完整姿态约束。
A Novel Model for 3D Motion Planning for a Generalized Dubins Vehicle with Pitch and Yaw Rate Constraints
- 基于机体坐标系建模全姿态（滚转、俯仰、偏航），更准确描述飞行器状态。
- 通过双控制输入模拟俯仰和偏航速率限制，生成的路径平均10秒内完成且更短。
- 适合需要高精度三维路径规划的无人机系统，尤其关注动力学约束场景。
本文提出一种新型建模方法与快速算法，用于固定翼无人飞行器的三维运动规划。目标是在满足运动约束条件下，构造连接给定初始与最终构型的最短路径。与现有研究不同，本工作采用机体附着坐标系，完整包含滚转、俯仰和偏航角，以唯一确定飞行器姿态；而以往方法仅使用俯仰和/或航向角，不足以完全表征方向。同时，通过两个独立控制输入分别表示有限制的俯仰和偏航速率，反映两个独立作动器的控制能力；相比之下，多数先前方法仅依赖单一输入（如路径曲率），难以精确建模三维运动学。我们利用最小旋转框架描述飞行器构型及其演化过程，并通过拼接球面、柱面或平面的最优杜比尼斯路径构建整体轨迹。数值仿真表明，该方法平均在10秒内生成可行路径，且在多数情况下路径长度优于现有方法。
原文摘要 · Abstract (English)
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.
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