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...

Introduction. A promising treatment for severe Parkinson disease involves the insertion of deep brain stimulation (DBS) electrodes via minimally invasive imageguided neurosurgery. Planning the optimal procedure requires the surgeon to find the best direct path to the subthalamic nuclei (STN) target that avoids critical brain structures (e.g. ventricles, sulci, blood vessels, motor area) to prev...