Abstract To make a trajectory enough to track unmanned skid-steering vehicles, planning method is proposed in this paper. The planner consists of velocity planning, curvature and path planning. Subject the constraints jerk acceleration, has five possibilities. Then taking into account, three And according sequence sequence, information can be obtained by kinematic model. verify presented method...

Flexible needle insertion for percutaneous therapies is formulated in this paper as a trajectory planning problem of a linear beam, supported by virtual springs. Using this simplified model, the forward and inverse kinematics of the needle is solved analytically, providing a way for simulation and path planning in real-time. Using the inverse kinematics, the required needle basis trajectory can...

| This paper addresses Dynamic Trajectory Planning, which is deened as Motion Planning for a robot A moving in a dynamic workspace W, i.e. with moving obstacles. Besides A is subject both to kinematic constraints and dynamic constraints. We consider the case of a car-like robot A with bounded velocity and acceleration, moving in a dynamic workspace W = IR 2. Our approach is an extension to the ...

Recent research in AI Planning is focused on improving the quality of the generated plans. PDDL3 incorporates hard and soft constraints on goals and the plan trajectory. Plan trajectory constraints are conditions that need to be satisfied at various stages of the plan. Soft goals are goals, which need not necessarily be achieved but are desirable. An extension of Constraint Satisfaction Problem...

The COG trajectory planning method is the primary concern in the gait planning for quadruped robot, especially when the quadruped robot travelling on rough terrain. In this paper, we focus on the scenario where the quadruped robot walking on the rough terrain with the static walking gait. We present a smooth COG trajectory generator that the COG smooth trajectory characterized by continuous vel...

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...

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...

We consider the problem of generating an optimal aircraft reference trajectory in a horizontal plane, where the objective is to minimize exposure to a spatiotemporally varying scalar field. We consider a special case, where this field is timeinvariant, and we discuss optimal trajectory generation for an aircraft kinematic model based on firstand second-order necessary conditions of optimal cont...

This paper presents a general methodology for the offline planning of trajectory of a six axis serial robot along a specified path. The objective of trajectory planning is to minimise a cost function when subjected to joint angles, joint velocities, acceleration, jerks, torques and gripping force constraints by considering dynamic of the robot. A trigonometric spline is used to represent the tr...