考虑爬升下降不对称性，让固定翼飞行器路径更优更快。
Minimum Time Dubins Airplane Paths with Asymmetric Climb Rates
- 引入不对称爬升率约束，突破传统对称假设
- 路径时间减少71%，显著提升飞行效率
- 适合复杂地形规划与真实飞行验证
Dubins飞机路径用于近似固定翼飞行器的机动能力，受限于最小曲率和对称爬升率。本文提出不对称Dubins飞机路径，考虑爬升与下降的非对称爬升率。重新分析时间最优条件，证明不对称飞行角约束仍可保持最优性。实验显示，相比随机生成状态间的路径，该方法可使最小飞行时间减少71%。在崎岖地形的采样规划任务中，由于可行性增强，求解中位数时间加快2.8倍。最后通过实际飞行验证了方法的有效性。
原文摘要 · Abstract (English)
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.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。