Autonomous navigation is a complex problem that involves different tasks, such as location of the mobile robot in scenario, robotic mapping, generating trajectory, navigating from initial point to target point, detecting objects it may encounter its path, etc. This paper presents new optimal trajectory planning algorithm allows assessment energy efficiency autonomous light vehicles. To best our...

Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization formulation demonstrates the computational practicality of optimizing trajectories that comprise planned collisions. A damage quantification function is proposed, an...

The objective of this paper is to present a full-stack, real-time kinodynamic planning framework and demonstrate it on a quadrotor for collision avoidance. Specifically, the proposed framework utilizes an offlineonline computation paradigm, neighborhood classification through machine learning, sampling-based motion planning with an optimal control distance metric, and trajectory smoothing to ac...

A nonlinear programming approach for the optimal motion planning of robotic manipulators is presented. In this approach a standard optimal control problem of infinite dimensionality (in time) is converted into an optimization problem of finite dimensionality by approximating the manipulator trajectories by the sum of a polynomial and a set of appropriate eigenfunctions. The optimal control prob...

In this study, we consider a point-to-point motion of a flexible arm mounted on a flexible base, composed of a slide rail and helical extension springs, and then propose a trajectory planning method for reducing residual vibrations. The Lagrangian approach, in conjunction with the assumed mode method, is applied to derive the equations of motion of the system. In order to accurately construct t...

The problem of planning a safe trajectory for a free-flying robot to approach an uncontrolled spinning satellite is addressed. First, a heuristic plan is presented for a simple planar case, which constructs a collision-free path within realistic system constraints. Second, a general numerical optimization technique for planning a safe spatial trajectory is presented. In it, the approach path is...

Trajectory planning is a fundamental issue for robotic applications and automation in general. The ability to generate trajectories with given features is a key point to ensure significant results in terms of quality and ease of performing the required motion, especially at the high operating speeds necessary in many applications. The general problem of trajectory planning in Robotics is addres...

In this paper, we present optimal control for movement and trajectory planning for four degrees-of-freedom robot using Fuzzy Logic (FL) and Genetic Algorithms (GAs). We have evaluated using Fuzzy Logic (FL) and Genetic Algorithms (GAs) for four degree-of-freedom (4 DOF) robotics arm, Uncertainties like; Movement, Friction and Settling Time in robotic arm movement have been compensated using Fuz...

Given a set of celestial bodies, the problem of finding an optimal sequence of swing-bys, deep space manoeuvres (DSM) and transfer arcs connecting the elements of the set is combinatorial in nature. The number of possible paths grows exponentially with the number of celestial bodies. Therefore, the design of an optimal multiple gravity assist (MGA) trajectory is a NP-hard mixed combinatorial-co...

According to the requirements for tower crane welding robots, precisely planning the welding trajectory is essential. The optimal model for the least-time trajectory planning for the robot is established by Bezier curve, which has the characteristic of sub-section processing. With the consideration of constraints such as joint angular velocity and acceleration, the specific operation steps of g...