Unable to obtain a smooth 3D Dubins path
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Shubham Kalpande
el 29 de Mzo. de 2021
Respondida: Shubham Kalpande
el 22 de Mayo de 2021
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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