Smooth Sub-Optimal Trajectory Generation for Transition Maneuvers
نویسندگان
چکیده
منابع مشابه
Trajectory Generation and Control for Precise Aggressive Maneuvers with Quadrotors
We study the problem of designing dynamically feasible trajectories and controllers that drive a quadrotor to a desired state in state space. We focus on the development of a family of trajectories defined as a sequence of segments, each with a controller parameterized by a goal state or region in state space. Each controller is developed from the dynamic model of the robot and then iteratively...
متن کاملOptimal Trajectory Generation for a Robotic Worm via Parameterization by B-Spline Curves
In this paper we intend to generate some set of optimal trajectories according to the number of control points has been applied for parameterizing those using B-spline curves. The trajectories are used to generate an optimal locomotion gait in a crawling worm-like robot. Due to gait design considerations it is desired to minimize the required torques in a cycle of gait. Similar to caterpillars,...
متن کاملOptimal Trajectory Generation for Energy Consumption Minimization and Moving Obstacle Avoidance of SURENA III Robot’s Arm
In this paper, trajectory generation for the 4 DOF arm of SURENA III humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. For this purpose, first, kinematic equations for a seven DOF manipulator are derived. Then, using the Lagrange method, an explicit dynamics model for the arm is developed. In the next step, in order to generate the desired traject...
متن کاملOptimal Trajectory Generation for Petri nets
Recently, the increasing complexity of IT systems requires the early verification and validation of the system design in order to avoid the costly redesign. Furthermore, the efficiency of system operation can be improved by solving system optimization problems (like resource allocation and scheduling problems). Such combined optimization and validation, verification problems can be typically ex...
متن کاملOptimal trajectory generation for wheeled mobile robot
The problem associated with trajectory generation for a car-like robot (CLR) moving from an initial configuration to any final configuration is studied in this paper. The aim of our research is to achieve energy-optimal solution to the problem of trajectory generation. Based on bang-bang control theory, the necessary condition for energy-optimal trajectory generation is studied. Based on steeri...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Access
سال: 2020
ISSN: 2169-3536
DOI: 10.1109/access.2020.2982231