Optimal motion planning along prescribed paths can be solved with several techniques, but most of them do not take into account the wrenches exerted by end-effector when in contact environment. When a dynamic model environment is available, no consolidated methodology exists to consider effect interaction. Regardless specific performance index optimize, this article proposes strategy include ex...

This paper proposes an optimal trajectory planning model for automated on-ramp merging. The minimum cost path based on the control theory is selected as of merging vehicle, which could avoid potential collisions and satisfy kinematic constraints vehicle motion. Moreover, strategy presented to solve problem facilitating vehicle. An analytical closed-form solution derived by using Hamiltonian ana...

The strong growth rate of the aviation industry in recent years has created significant challenges terms environmental impact. Air traffic contributes to climate change through emission carbon dioxide (CO2) and other non-CO2 effects, associated impact is expected soar further. mitigation CO2 contributions net can be achieved using novel propulsion, jet fuels, continuous improvements aircraft ef...

The main contribution of this paper is a novel method for planning globally optimal trajectories dynamical systems subject to polygonal constraints. proposed hybrid trajectory approach, which combines graph search, i.e. discrete roadmap method, with convex optimization, complete path method. Contrary past approaches, have focused on using simple obstacle approximations, or sub-optimal spatial d...