How to modify dubins statespace for 3d Maps?

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.

Answer 1

[Jianxin Sun]

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

[mukund shah]

@Jianxin Sun i installed latest matlab update but i am not able to run the given example

ss = ExampleHelperUAVStateSpace("MaxRollAngle",pi/6,...

"AirSpeed",6,...

"FlightPathAngleLimit",[-0.1 0.1],...

"Bounds",[-20 220; -20 220; 10 100; -pi pi]);

after i run this part matlab is showing error undefined function,i have installed all toolboxes and my matlab is of latest version,kindly help

[Jianxin Sun]

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