BEGIN:VCALENDAR

VERSION:2.0

PRODID:-//wp-events-plugin.com//6.6.4.4//EN

TZID:Asia/Jerusalem

X-WR-TIMEZONE:Asia/Jerusalem
BEGIN:VEVENT

UID:0-351@aerospace.technion.ac.il

DTSTART;TZID=Asia/Jerusalem:20190102T163000

DTEND;TZID=Asia/Jerusalem:20190102T173000

DTSTAMP:20230527T135209Z

URL:https://aerospace.technion.ac.il/events/finding-the-shortest-3d-paths-
 with-curvature-constraint-in-close-range-scenarios/

SUMMARY:Finding the Shortest 3D paths with Curvature Constraint in Close Ra
 nge Scenarios
DESCRIPTION:Lecturer:Rafi Kfir\n Faculty:Department of Aerospace Engineerin
 g\n Institute:Technion – Israel Institute of Technology\n Location:Class
 room 165\, ground floor\, Library\, Aerospace Eng.\n Zoom: \n Abstract: \n
  Details: \n The problem of finding optimal trajectories is a basic proble
 m in aerospace engineering with many different solution algorithms. One wi
 dely investigated branch is the problem of finding shortest paths under ma
 ximum curvature constraint. The shortest planar trajectories under curvatu
 re constraint are the well-known Dubins paths\, which can either be arc-li
 ne-arc or arc-arc-arc combinations. In recent years few works dealt with 3
 D shortest paths under the curvature constraint. Theoretical works prove t
 he existence of 3 types of spatial shortest trajectories: 3D arc-line-arc\
 , 3D arc-arc-arc and helicoidal-arc. Some further works proposed algorithm
 s for finding the first one (3D arc-line-arc trajectories)\, which is the 
 shortest path when the start and the end point are far from each other.\nT
 his work first proposes an algorithm to calculate 3D arc-arc-arc type traj
 ectories\, (the solution for 3D arc-line-arc is already known)\, followed 
 by an investigation of the helicoidal-arc type trajectory. In the case of 
 helicoidal-arc the exact solution depends on a high order TPBVP (Two Point
  Boundary Value Problem)\, a difficult numerical problem. In this study we
  propose to approximate the helicoidal-arc with polynomials. The approxima
 te polynomial solutions are compared to the optimal paths obtained from nu
 merical integration and validated by GPOPS (General Purpose OPtimal Cont
 rol Software). It is shown that the solutions based on the polynomials le
 ad to good approximation of the optimal trajectories.
CATEGORIES:Seminars
LOCATION:Classroom 165\, ground floor\, Library\, Aerospace Eng.

END:VEVENT

BEGIN:VTIMEZONE

TZID:Asia/Jerusalem

X-LIC-LOCATION:Asia/Jerusalem

BEGIN:STANDARD

DTSTART:20181028T010000

TZOFFSETFROM:+0300

TZOFFSETTO:+0200

TZNAME:IST

END:STANDARD

END:VTIMEZONE
END:VCALENDAR