Trajectory planning is a classic problem in robotics, with different approaches and optimisation objectives documented the literature. Most of time, path assumed, i.e., pre-defined, consists finding timing motion under number constraints. The focus this work on minimum-time manoeuvring robotic manipulators. A nonlinear optimal control approach proposed that does not require provision either pre...

The narrow corridor is a common working scene for automated vehicles, where it pretty challenging to plan safe, feasible, and smooth trajectory due the passable area constraints. This paper presents space discretization-based optimal planning method vehicles in with consideration of travel time minimization boundary collision avoidance. In this method, we first design mathematically-described d...

Autonomous trajectory generation plays an essential role in the navigation of vehicles space as well terrestrial scenarios, i.e. air, on solid ground, or water. For latter, ships ports has specific challenges since ship dynamics are highly nonlinear with limited agility, while manoeuvre is limited. Nevertheless, for providing support to humanly designed control strategies, autonomously generate...

In this paper we present a solution of the adaptive control problem of the manipulator of robot Mitsubishi RV-1A at the end-effector motion on the optimal (in terms of a set of criteria) trajectories. For the trajectories planning a minimal torque changes criteria and a minimal discomfort criteria, founded with a biomechanical point of view was used. Control system that uses a linearized manipu...

This paper deals with a trajectory planning problem that we call the ‘highway problem’. It consists in planning a time-optimal trajectory for a mobile which is travelling in a structured workspace amidst moving obstacles and is subject to constraints on its velocity and acceleration. By structured workspace, we mean that there exists lanes characterized by one-dimensional curves along which the...

In this paper a real-time trajectory generation algorithm for computing 2-D optimal paths for autonomous aerial vehicles has been discussed. A dynamic programming approach is adopted to compute k-best paths by minimizing a cost function. Collision detection is implemented to detect intersection of the paths with obstacles. Our contribution is a novel approach to the problem of trajectory genera...

This paper presents a novel approach to plan the optimal joint trajectory for a manipulator robot performing constrained motion tasks. In general, a two-step scheme will be deployed to find the optimal robot joint curve. Firstly, instead of solving a nonlinear, implicit EulerLagrange equation, we discretize the corresponding cost function and use Newton’s iterations to numerically calculate the...

the trajectory planning, which is known as a movement from starting to end point by satisfying the constraints along the path is an essential part of robot motion planning. a common way to create trajectories is to deal with polynomials which have independent coefficients. this paper presents a trajectory formulation as well as a procedure to arrange the suitable trajectories for applications. ...