This paper is devoted to the development of an optimal control system of trajectory movement of a mobile robot. Synthesis of the trajectory control law is based on the methods of optimal control and asymptotical methods of singular perturbation theory. Singular perturbation theory’s methods are used for reducing the order of the solving problem and it helps to simplify the realization of the co...

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...

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,...

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...

In this paper, some of the relationships between optimal control and trajectory planning are examined. When planning trajectories for linear control systems, a demand that arises naturally in air tra$c control or noise contaminated data interpolation is that the curve passes close to given points, or through intervals, at given times. In this paper, we produce these curves by solving an optimal...

An analysis of the results of an algorithm for optimal trajectory planning of robot manipulators is described in this paper. The objective function to be minimized is a weighted sum of the integral squared jerk and the execution time. Two possible primitives for building the trajectory are considered: cubic splines or fifth-order B-splines. The proposed technique allows to set constraints on th...

This paper presents an approach to near-optimal target localization for small and micro uninhabited aerial vehicles using a family of pre-computed parameterized trajectories. These trajectories are pre-computed for a set of nominal target locations uniformly distributed over the sensor field of view and stored off-line. Upon target detection the vehicle chooses the trajectory corresponding to t...

Genetic algorithms have gained popularity as effective search procedures for obtaining solutions to traditionally difficult space mission optimization problems. In this paper, a real-coded genetic algorithm is used together with calculus of variations to optimize a trajectory for rendezvous problem. The global search properties of genetic algorithm combine with the local search capabilities of ...

PURPOSE Spatial encoding magnetic fields (SEMs) that vary nonlinearly over the field-of-view have the potential to accelerate image acquisition and overcome safety limitations. Recent work has demonstrated that the spatially varying resolution, characteristic of this type of encoding, can be controlled with combinations of linear and nonlinear fields with an appropriate trajectory. In addition ...