Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

This paper discusses an adaptive control (AC) designed to track an energy-saving point-to-point (ESPTP) trajectory for a mechatronic system, which is a toggle mechanism driven by a permanent magnet synchronous motor (PMSM) with a clamping unit. To generate the PTP trajectory, we employed an adaptive real-coded genetic algorithm (ARGA) to search for the energy-saving trajectory for a PMSM-toggle...

This article addresses the development and experimental validation of a trajectory-tracking control for miniature autonomous Quadrotor helicopter system (X4-prototype) using robust algorithm based on second-order sliding mode technique or also known as super-twisting in outdoor environments. nonlinear strategy guarantees convergence finite time to desired path r(t) presence external disturbance...

In this paper, two protocols are presented for private intersection detection of moving objects’ trajectories. Assuming that the movement trajectory an object can be described by a time-dependent polynomial function, problem finding points is simplified to common roots corresponding polynomials. Thereafter, GrObner Basis used design novel secure protocol Another also designed based on distance ...

Movement data, that is, trajectories of mobile objects, are automatically collected in huge quantities by technologies such as GPS, GSM or RFID, among others. Publishing and exploiting such data is essential to improve transportation, to understand the dynamics of the economy in a region, etc. However, there are obvious threats to the privacy of individuals if their trajectories are published i...

This work deals with jerk–continuous trajectory planning for robotic manipulators by means of the fourth-order S-curve to ensure motion smoothness. The algorithm presented in this can cause acceleration and jerk stay a saturated state order improve efficiency robot’s programming operation. Moreover, multi-axis synchronization is proposed integrated enhanced stability terms generated synchronize...

Abstract By considering mandatory lane-changing as a collision avoidance measure, this paper presented the corresponding lane-change decision making and trajectory planning algorithm under an emergency scenario. Different from traditional in which are separated, they here coupled proposed related parameters dynamically adjusted whole process. In addition to feasibility analysis, time instance d...

Segment models are a generalization of HMMs that can represent feature dynamics and/or correlation in time. In this work we develop the theory of Bayesian and maximum-likelihood adaptation for a segment model characterized by a polynomial mean trajectory. We show how adaptation parameters can be shared and adaptation detail can be controlled at run-time based on the amount of adaptation data av...