The Space Shuttle’s two-dimensional entry trajectory planning method is extended to three dimensions. Both angle-of-attack and angle-of-bank variations are used to control the entry trajectory. The trajectory planning is done with a third-order system of differential equations using the drag and lateral accelerations as intermediate controls. The reduced-order planning problem is solved first i...

We present two different optimal control problem formulations that can be used to solve various trajectory planning scenarios of an Unmanned Ground Vehicle (UGV). It is less a study of trajectory planning than it is an analysis of the optimal control planning method itself. Numerous issues regarding vehicle modeling, obstacle modeling and computational complexity are discussed. The results and ...

| 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 addresses dynamic trajectory planning which is deened as trajectory planning for a robot subject to dynamic constraints and moving in a dynamic workspace, i.e. with moving obstacles. To begin with, we propose the novel concept of state-time space as a tool to formulate dynamic trajectory planning problems. The state-time space of a robot is its state space augmented of the time dim...