| This paper addresses trajectory planning in dynamic workspaces, i.e. trajectory planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced the novel concept of state-time space, i.e. the state space of the robot augmented of the time dimension. Like the concept of connguration space which is a tool to formulate path planning proble...

This paper proposes genetic algorithms (GAs) for path planning and trajectory planning of an autonomous mobile robot. Our GA-based approach has an advantage of adaptivity such that the GAs work even if an environment is time-varying or unknown. Therefore, it is suitable for both o -line and on-line motion planning. We rst presents a GA for path planning in a 2D terrain. Simulation results on th...

High-speed assembly makes strict demands on path and trajectory planning systems. In such systems the stages of path planning, trajectory planning, andìow-level' control are normally separated, which admits functional simplicity but may not produce the most useful trajectories. Thus we have been exploring the possibility of merging the levels, by allowing the path planner to generate the trajec...

Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

| This paper addresses trajectory planning in a dynamic workspace, i.e. motion planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced the novel concept of state-time space, i.e. the state space of the robot augmented of the time dimension. Like connguration space which is a tool to formulate path planning problems, state-time spa...

We consider the problem of generating an optimal aircraft reference trajectory in a horizontal plane, where the objective is to minimize exposure to a spatiotemporally varying scalar field. We consider a special case, where this field is timeinvariant, and we discuss optimal trajectory generation for an aircraft kinematic model based on firstand second-order necessary conditions of optimal cont...

Motion planning of walking machines normally contains two aspects: gait planning and body trajectory planning. When generating an optimal body trajectory on natural terrain, the leg movement must be taken into account. Due to the large searching space resulting from the combination of leg movement and terrain conditions, it is quite time consuming to produce an optimal result of body trajectory...

This paper develops an automatic parking algorithm based on a fuzzy logic controller with the vehicle pose for the input and the steering angle for the output. In this way some feasible reference trajectory path have been introduced according to geometric and kinematic constraints and nonholonomic constraints to simulate motion path of car. Also a novel method is used for parking space detec...

In order to better study the trajectory of robot motion, a motion trajectory planning and simulation based on 6-DOF manipulator arm robot is designed. Three and five polynomial methods are adopted to plan motion trajectories. The advantages and disadvantages of the three and five polynomial trajectory planning are summarized. The trajectory planning in the right angle space can make the robot a...

The problem of planning a safe trajectory for a free-flying robot to approach an uncontrolled spinning satellite is addressed. First, a heuristic plan is presented for a simple planar case, which constructs a collision-free path within realistic system constraints. Second, a general numerical optimization technique for planning a safe spatial trajectory is presented. In it, the approach path is...