This paper presents the time optimal trajectories for differential drive vehicles in the unobstructed plane. The wheel angular velocities are bounded, but may be discontinuous. The paper proves the existence of optimal controls, derives the structure of optimal trajectories, and develops an algorithm for producing a time optimal trajectory between any two configurations. Every nontrivial optima...

This paper presents an adaptive trajectory planning approach for nonlinear dynamical systems based on deep reinforcement learning (DRL). methodology is applied to the authors’ recently published optimization-based named model predictive horizon (NMPH). The resulting design, which we call ‘adaptive NMPH’, generates optimal trajectories autonomous vehicle system’s states and its environment. done...

Trajectory planning consists in finding a time series of successive joint angles that allows moving a robot from a starting configuration towards a goal configuration, in order to achieve a task, such as grabbing an object from a conveyor belt and placing it on a shelf. This trajectory must respect given constraints: for instance, the robot should not collide with the environment, the joint ang...

In order to tackle the robot trajectory planning problem with short running time as optimization goal, a time-optimal algorithm was presented based on improved simplified particle swarm (ISPSO). The robot’s constructed by 3-5-3 polynomial interpolation in joint space of robot. Under condition satisfying velocity constraint, objective function sum intervals between each node. ISPSO used optimize...