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PRM-based Trajectory Planning for Underactuated Vehicles in 3-D Space

CS326a Motion Planning. Professor J-C. Latombe. PRM-based Trajectory Planning for Underactuated Vehicles in 3-D Space. Dongkyu Choi Jinwhan Kim. Aircraft Dynamics Model. 6 DOF (3 positions & 3 orientations) 12 states (x, u, z, u, v, w, ? , ? , ? , p, q, r) 2 inputs (? E , ? R ).

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Modified prm - PowerPoint PPT Presentation

PRM-based Trajectory Planning for Underactuated Vehicles in 3-D Space