Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the e...

This paper describes the design of an optimal-control-based active safety framework that performs trajectory planning, threat assessment, and semiautonomous control of passenger vehicles in hazard avoidance scenarios. The vehicle navigation problem is formulated as a constrained optimal control problem with constraints bounding a navigable region of the road surface. A model predictive controll...

In optimal kinodynamic planning, given a robot system, we must nd a minimal-time trajectory that goes from a start state to a goal state while avoiding obstacles by a speed-dependent safety-margin and respecting dynamics bounds. With Canny and Reif 1], we approached this problem from an-approximation standpoint and introduced a provably-good approximation algorithm for optimal kinodynamic plann...

This paper describes the design of an optimal-control-based active safety framework that performs trajectory planning, threat assessment, and semiautonomous control of passenger vehicles in hazard avoidance scenarios. This framework allows for multiple actuation modes, diverse trajectory-planning objectives, and varying levels of autonomy. A model predictive controller iteratively plans a best-...

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...

Keywords: Car-like robot Trajectory planning Time-optimal control Simultaneous dynamic optimization Interior-point method Computational guidance and control a b s t r a c t Trajectory planning in robotics refers to the process of finding a motion law that enables a robot to reach its terminal configuration, with some predefined requirements considered at the same time. This study focuses on pla...

| This paper deals with a particular kinodynamic 4] trajectory planning problem that we call thèhighway problem'. It consists in planning a time-optimal trajectory for a vehicle which is travelling in a structured workspace amidst other vehicles and is subject to constraints on its velocity and acceleration. By structured workspace, we mean that there exists lanes within which the vehicles are ...