fig3

Figure 3. Comparison of corridor construction around a narrow passage. The blue points represent position-only seed endpoints, whereas the purple points represent attitude-aware seed endpoints. (A) The conventional method generates two polyhedra whose overlap is concentrated near the narrow opening, leaving insufficient space for attitude adjustment and corridor transition; (B) The proposed method inserts an Att-SFC $$ \mathcal{P} $$₂ between the Pos-SFCs $$ \mathcal{P} $$₁ and $$ \mathcal{P} $$₃, forming an ordered and overlapping corridor sequence for attitude-aware traversal of the narrow passage. SFC: Safe flight corridor.