How to modify dubins statespace for 3d Maps?
7 visualizzazioni (ultimi 30 giorni)
Mostra commenti meno recenti
mukund shah
il 9 Dic 2021
Modificato: mukund shah
il 10 Dic 2021
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.
0 Commenti
Risposta accettata
Jianxin Sun
il 9 Dic 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 Commenti
Jianxin Sun
il 10 Dic 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
Più risposte (0)
Vedere anche
Categorie
Scopri di più su Robotics in Help Center e File Exchange
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!