Robot motion planning has applications in a wide range of areas such as robot navigation and medical surgery. Among the topics that are related to motion planning, computing time-optimal trajectories is challenging and of great importance. We want to move a robot from the start to the goal in the shortest time. There are four different vehicle designs that are considered in our work: Dubins car...

the most current pursuit algorithms for moving targets which are presented so far in the literatureare pure pursuit and pure rendezvous navigations. recently, one of the present authors has introduced ageometric model for the pure pursuit navigation algorithm. here, in this paper, we study a new algorithm forthe pursuit navigation problem which is a combination of both of the above algorithms. ...

The optimal barbell trajectory for snatch weightlifting has been achieved empirically by several researchers. They have studied the differences between the elite weightlifters’ movement patterns and suggested three optimal barbell trajectories (type A, B, and C). But they didn’t agree for introducing the best trajectory. One of the reasons is this idea that the selected criterion by researchers...

An optimal control problem with time delay is considered in this paper. The asymptotic stability of optimal trajectories in terms of a terminal type functional is investigated. Under some conditions it is proved that there is a unique stationary point attracting all optimal trajectories not depending on initial functions.

A differential drive robot is perhaps the simplest type of mobile robot, and the bounded velocity model is perhaps the simplest useful model of the admissible controls. This paper develops the bounded velocity model for diff drive mobile robots, and derives the time-optimal trajectories.

A common mobile robot design consists of three ‘omniwheels’ arranged at the vertices of an equilateral triangle, with wheel axles aligned with the rays from the center of the triangle to each wheel. Omniwheels, like standard wheels, are driven by the motors in a direction perpendicular to the wheel axle, but unlike standard wheels, can slip in a direction parallel to the axle. Unlike a steered ...

The aim of this paper is to tackle the time optimal controllability of an (n+1)-dimensional nonholonomic integrator. In the optimal control problem we consider, the state variables are subject to a bound constraint. We give a full description of the optimal control and optimal trajectories are explicitly obtained. The optimal trajectories we construct, lie in a 2-dimensional plane and they are ...

Using mobile sensors to perform optimal measurement and estimation of a distributed parameter system in a domain of interest is considered in this paper. Given parameters, how to optimally plan the motion trajectories of the mobile sensors has been known in the literature, where the purpose of mobile sensing is to best estimate the parameters. Clearly, there is a “chick-and-egg” problem regardi...

We present two schemes for planning the time-optimal trajectory for cooperative multi-manipulator system (CMMS) carrying a common object. We assume that the desired path is given and parameterizable by an arclength variable. Both approaches take into account the dynamics of the manipulators and object. The first approach employs linear programming techniques, and it allows us to obtain the time...

A common mobile robot design consists of three ‘omniwheels’ arranged at the vertices of an equilateral triangle, with wheel axles aligned with the rays from the center of the triangle to each wheel. Omniwheels, like standard wheels, are driven by the motors in a direction perpendicular to the wheel axle, but unlike standard wheels, can slip in a direction parallel to the axle. Unlike a steered ...