With the rapid development of world economy and science technology, intelligent era has kicked off, application automatic driving technology also attracted people's attention. Trajectory planning tracking control, as key technologies autonomous driving, determine safety stability vehicles during driving. Aiming at problems control robustness, research on structured road obstacle avoidance traje...

The path generation for legged locomotion systems is di cult in that the legged motion must be considered together with the body movement. Owing to the large searching space resulted from the combination of leg movement and terrain condition, it is quite time consuming to produce an optimal result of body trajectory planning. In this paper, an e ective method of body trajectory planning is intr...

Vibration is one of the most important resources of error in motion of tip of flexible robot manipulators. Although much work has been done in the design of controllers for flexible manipulators to follow a specified tip trajectory, it has been done a little work in trajectory planning itself. For redundant robot manipulators, trajectory planning can be accomplished with the aim of optimizing s...

This paper deals with motion planning for a mobile robot on rough terrain. We proposed in 9] a geometrical planner for articulated robots which can take into account uncertainty on the terrain and on the position of the robot. This paper aims at improving the robustness of the trajectory using landmark based approach. We consider regions of the terrain where natural landmarks are visible. We pr...

Abstract— In this paper, the trajectory planning of a two-link rehabilitation robot arm is addressed. Firstly, a Cartesian planning of the trajectory is defined to perform a proper motion exercise for the patient’s arm. Secondly, a trajectory planning in joint space is studied to obtain a similar Cartesian path with less computational complexity. The robot arm analyzed is the two degrees of fre...

In this paper we present two path planning algorithms based on Bézier curves for autonomous vehicles with waypoints and corridor constraints. Bézier curves have useful properties for the path generation problem. This paper describes how the algorithms apply these properties to generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join a set of low-degre...

In this paper we present two path planning algorithms based on Bézier curves for autonomous vehicles with waypoints and corridor constraints. Bézier curves have useful properties for the path generation problem. This paper describes how the algorithms apply these properties to generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join a set of low-degre...

This paper presents a novel design for mobile robot using particle swarm optimization (PSO) and adaptive NN control. The adaptive NN control strategy guarantees that robot with nonholonomic constraints can follow smooth trajectories. Based on this property, a PSO algorithm for path planning is proposed. The path planning generates smooth path with low computational cost to avoid obstacles, so t...

Assistive mobile robots that can navigate autonomously can greatly benefit people with mobility impairments. Several important problems need to be addressed for developing such an autonomous robot. This research focuses on one such problem, namely, motion planning in small-scale space. Small-scale space is space within the robot’s sensory horizon. Motion planning consists of finding a time-para...