How to modify dubins statespace for 3d Maps?

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I am doing this for needle trajectory planning for robotic surgery , i have 3d occupancy grid map of my organ,I did rrt based planning on my map using SE3 state space but the trajectory i am getting are quite sharp ,I need curvilinear type smooth trajectory which takes min turning radius as an input like in dubins state space ,but the dubins state space is only for 2d currently,so kindly suggest what modifications i need to do to make it 3d dubins.

Accepted Answer

Jianxin Sun
Jianxin Sun on 9 Dec 2021
Hi,
The following example https://www.mathworks.com/help/uav/ug/motion-planning-with-rrt-for-fixed-wing-uav.html might help you. Although it is for a fixed wing UAV motion planning, the requirements are similar to yours. It used a 3D Dubins curve with limited elevation angles and turn radius (presented as speed + roll angle limit).
Thanks,
Jianxin
  2 Comments
Jianxin Sun
Jianxin Sun on 10 Dec 2021
Hi,
Did you open the example using the openExample('uav/MotionPlanningWithRRTForAFixedWingUAVExample') command? This command will copy all the helper functions and data files.
Thanks,
Jianxin

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