The generation of a time-optimal feedrate trajectory has received significant attention in CNC machining and robotics applications. Most of the existing feedrate planning algorithms take velocity and acceleration into the consideration for capability constraints. The introduction of higher order dynamic states, such as jerk and/or jounce into the feedrate scheduling problem makes generating com...

We consider the problem of planning under observation and motion uncertainty for nonlinear robotics systems. Determining the optimal solution to this problem, generally formulated as a Partially Observed Markov Decision Process (POMDP), is computationally intractable. We propose a Trajectory-optimized Linear Quadratic Gaussian (T-LQG) approach that leads to quantifiably near-optimal solutions f...

In the paper we present a solution to the optimal trajectory planning problem subject to constraints given by the actuator torques and velocities, and the task. The main result is a trajectory planning algorithm which enables the calculation of the optimal motion due to the given requirements and taking into account the dynamics of the manipulator. The dynamic model of the manipulator in the pa...

This paper presents a falling‐based optimal foot trajectory planning method (FOFTP) for the effective walking of bipedal robots in three‐dimensional space. Our primary concern is to determine the optimal footstep location for the more balanced walking of bipedal robots based on a measure of falling. A proper strategy for the intermediate trajectory of the swing foot is als...

A new progressive genetic algorithm (PGA) was developed for trajectory planning of a novel limbrobot. The proposed trajectory planning method can be applied to get an optimal joints trajectory from the initial to the end position and orientation. On the basis of the genetic algorithm a new kind of variable structure genetic algorithm (VSGA) is proposed to solve the problem of trajectory plannin...

Optimal motion planning is critical for the successful operation of an autonomous mobile robot. Many proposed approaches use either fuzzy logic or genetic algorithms (GAs), however, most approaches offer only path planning or only trajectory planning, but not both. In addition, few approaches attempt to address the impact of varying terrain conditions on the optimal path. This paper presents a ...

trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. in this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set of time. along the path, the robot requires to observe a certain acceleration profil...