@inproceedings{5a719812d0eb45b1b52282df9a245253,

title = "Time-optimal paths for a dubins airplane",

abstract = "We consider finding a time-optimal trajectory for an airplane from some starting point and orientation to some final point and orientation. Our model extends the Dubins car [15] to have altitude, which leads to Dubins airplane. We assume that the system has independent bounded control over the altitude velocity as well as the turning rate in the plane. Through the use of the Pontryagin Maximum Principle, we characterize the time-optimal trajectories for the system. They are composed of turns with minimum radius, straight line segments, and pieces of planar elastica. One motivation for determining these elementary pieces is for use as motion primitives in modern planning and control algorithms that consider obstacles.",

author = "Hamidreza Chitsaz and LaValle, {Steven M.}",

year = "2007",

doi = "10.1109/CDC.2007.4434966",

language = "English (US)",

isbn = "1424414989",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2379--2384",

booktitle = "Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC",

address = "United States",

note = "46th IEEE Conference on Decision and Control 2007, CDC ; Conference date: 12-12-2007 Through 14-12-2007",

}