This paper presents an automatic motion trajectory based surveillance video retrieval system with an efficient and flexible trajectory matching technique based on turning function. Raw trajectories of moving objects are extracted by automatic tracking and described by MPEG-7 motion trajectory descriptor with first order interpolating function. Efficient matching is performed for translation inv...

We address the global trajectory planning problem of nonholonomic mobile robots in environments with static and dynamic obstacles. The global trajectory is composed of regional feasible trajectories which satisfy the dynamics of the robot kinematic model. Piecewise constant parameterization is used to construct regional feasible trajectory and steering control, and collision avoidance criterion...

In recent years, soft computing methods, like fuzzy logic and neural networks have been  presented and developed for the purpose of mobile robot trajectory tracking. In this paper we will present a fuzzy approach to the problem of mobile robot path tracking for the CEDRA rescue robot with a complicated kinematical model. After designing the fuzzy tracking controller, the membership functions an...

In this paper, a nonlinear model of the underactuated six degrees of freedom (6 DOF) quadrotor helicopter was derived based on the Newton-Euler formalism. A new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. The proposed control structure consist of a sliding mode control base...

An advanced guidance law is developed for reentry phase of a reentry vehicle. It can achieve small miss distance and desired impact attitude angle, simultanceously. To meet this requirment a guidance law based on the fuzzy logic approach is developed. It is partitioned into three stages. This guidance law does not require linearization of missile engagement model. Line-of-sight and flight path ...

this paper employs nonlinear disturbance observer (ndo) for robust trajectory-free nonlinear model predictive control (nmpc) of biped robots. the ndo is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. in contrary to the slow-varying disturbances, handling sudden pushing ...

The main attempt of this article is extension the method so that it generallywould be able to consider the classical solution of the systems and moreover,produces the optimal trajectory and control directly at the same time. There-fore we consider a control system governed by a bone marrow cancer equation.Next, by extending the underlying space, the existence of the solution is con-sidered and ...

in this research, first, kinematic and dynamic equations of a 4-dof 3-link robotic finger are derived using denavit-hartenberg convention and lagrange’s formulation. to model the muscles, several springs and dampers are placed between the finger links. then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...

in this study, the problem of determining an optimal trajectory of a nonlinear injection into orbit problem with minimum time was investigated. the method was based on orthogonal polynomial approximation. this method consists of reducing the optimal control problem to a system of algebraic equations by expanding the state and control vector as chebyshev or legendre polynomials with undetermined...

In the paper we present a solution to the optimal trajectory planning problem subject to constraints given by the actuator torques and velocities, and the task. The main result is a trajectory planning algorithm which enables the calculation of the optimal motion due to the given requirements and taking into account the dynamics of the manipulator. The dynamic model of the manipulator in the pa...