Unable to obtain a smooth 3D Dubins path

Question

Shubham Kalpande 2021-3-29

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/786646-unable-to-obtain-a-smooth-3d-dubins-path

回答： Shubham Kalpande 2021-5-22

I am trying to follow this example for my application: https://in.mathworks.com/help/uav/ug/motion-planning-with-rrt-for-fixed-wing-uav.html

Now, I have created a similar but larger occupancy map and I want a 3D Dubins path between two poses. I have used the exact same code as from the example, except I changed the occupancy map to have a different environment. The planner outputs a path, but when I try to 'interpolate' it using the pre-defined function in the example state space, the interpolated path is exaclty similar to the original one, with no smoothening at sqaure turns.

Can you please tell me how can I smoothen the extremely sharp turns that appear in the path? I tried interpolating to larger and larger number of points (1000 to 10000), but there was no improvement. Please guide me as to how can this problem be solved.

I am attaching sample plot of trajectory for your reference.

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darova 2021-3-29

Please attach the code you are interpolating the data

Shubham Kalpande 2021-3-29

As I said, I am using the exact same code from the MATLAB example file. In the example state space they have defined the interpolate function which connects the waypoints using Dubins connections. I have not changed anything except the occupancy map. Not sure why is it not working

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Answer 1

Shubham Kalpande 2021-5-22

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此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/786646-unable-to-obtain-a-smooth-3d-dubins-path#answer_705793

The reason why the path appears sharp is because of the resolution. The turns are smooth, but since the scales are big, it appears sharp. So, nothing is wrong with the implementation.