Trajectory planning is the basis of robot control. A robot with seven degrees of freedom is the object of study. The shortest time is taken as the trajectory optimization target. The joint trajectory planning is carried out by using B-spline curve. Under the constraint of kinematics parameters, the time optimization of the motion trajectory is realized by using the improved genetic algorithm. T...

In this work the problem of remote calibration and trajectory replanning for a subsea robotic manipulator is considered. Because the trajectory planning is normally done in a structured environment, several uncertainties arise when the robot is placed on the seabed and these need to be compensated for to guarantee that the task specifications are fulfilled. We address the particular problem of ...

This paper presents a new type of mechanism and trajectory planning strategy for bipedal walking robot. The newly designed mechanism is able to improve the performance of bipedal walking robot in terms of energy efficiency and weight reduction by utilizing minimum number of actuators. The usage of parallelogram mechanism eliminates the needs of having an extra actuator at the knee joint. This m...

Exploiting structure is essential to an understanding of motion planning. Here, we exploit the topology of the environment to discover connected components. Inside a connected component, instead of planning one trajectory in configuration space, motion planning can be seen as optimizing a set of homotopically equivalent particle trajectories. In this paper, we will concentrate on the problem of...

This paper addresses the trajectory planning problem in robotic systems that can be represented by an affine control system with output. Using as a guideline the continuation method, a partial differential equation has been associated with the control system and its variational system, whose solution yields a 1–parameter family of control functions. After passing with the parameter to infinity ...

This paper proposes genetic algorithms (GAs) for path planning and trajectory planning of an autonomous mobile robot. Our GA-based approach has an advantage of adaptivity such that the GAs work even if an environment is time-varying or unknown. Therefore, it is suitable for both o -line and on-line motion planning. We rst presents a GA for path planning in a 2D terrain. Simulation results on th...

The motion planning method of lane change for intelligent vehicle is an important component in the autonomous vehicle field. In order to make the intelligent vehicle drive on the urban environmental road smoothly when there is a barrier in the front, a new curvature-continuous obstacle avoidance trajectory planning method was introduced. The trajectory planning method based B-spline curves and ...

For the parallel parking problem in narrow space, this paper proposes a trajectory tracking control method with novel planning layer for autonomous based on numerical optimization algorithm and model predictive control. In layer, vehicle kinematics suitable low-velocity scene is established. Considering physical constraints, boundary condition obstacle avoidance constraints during process, task...

We discuss trajectory optimization for hybrid systems with a natural, hierarchical separation of discrete and continuous dynamics. The trajectory optimization problem considered requires that a discrete state sequence and a continuous state trajectory must be both determined to minimize a single cost function, such that the discrete state sequence also solves a symbolic planning problem. We mod...

This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...