Academic literature on the topic 'Trajectory generation under dynamic constraints'
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Journal articles on the topic "Trajectory generation under dynamic constraints"
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Al Younes, Younes, and Martin Barczyk. "Nonlinear Model Predictive Horizon for Optimal Trajectory Generation." Robotics 10, no. 3 (July 14, 2021): 90. http://dx.doi.org/10.3390/robotics10030090.
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This paper presents a trajectory generation method for a nonlinear system under closed-loop control (here a quadrotor drone) motivated by the Nonlinear Model Predictive Control (NMPC) method. Unlike NMPC, the proposed method employs a closed-loop system dynamics model within the optimization problem to efficiently generate reference trajectories in real time. We call this approach the Nonlinear Model Predictive Horizon (NMPH). The closed-loop model used within NMPH employs a feedback linearization control law design to decrease the nonconvexity of the optimization problem and thus achieve faster convergence. For robust trajectory planning in a dynamically changing environment, static and dynamic obstacle constraints are supported within the NMPH algorithm. Our algorithm is applied to a quadrotor system to generate optimal reference trajectories in 3D, and several simulation scenarios are provided to validate the features and evaluate the performance of the proposed methodology.
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Cisek, Paul, Stephen Grossberg, and Daniel Bullock. "A Cortico-Spinal Model of Reaching and Proprioception under Multiple Task Constraints." Journal of Cognitive Neuroscience 10, no. 4 (July 1998): 425–44. http://dx.doi.org/10.1162/089892998562852.
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A model of cortico-spinal trajectory generation for voluntary reaching movements is developed to functionally interpret a broad range of behavioral, physiological, and anatomical data. The model simulates how arm movements achieve their remarkable efficiency and accuracy in response to widely varying positional, speed, and force constraints. A key issue in arm movement control is how the brain copes with such a wide range of movement contexts. The model suggests how the brain may set automatic and volitional gating mechanisms to vary the balance of static and dynamic feedback information to guide the movement command and to compensate for external forces. For example, with increasing movement speed, the system shifts from a feedback position controller to a feedforward trajectory generator with superimposed dynamics compensation. Simulations of the model illustrate how it reproduces the effects of elastic loads on fast movements, endpoint errors in Coriolis fields, and several effects of muscle tendon vibration, including tonic and antagonist vibration reflexes, position and movement illusions, effects of obstructing the tonic vibration reflex, and reaching undershoots caused by antagonist vibration.
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Yan, Xinghui, Minchi Kuang, and Jihong Zhu. "A Geometry-Based Guidance Law to Control Impact Time and Angle under Variable Speeds." Mathematics 8, no. 6 (June 23, 2020): 1029. http://dx.doi.org/10.3390/math8061029.
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To provide a feasible solution for a variable speed unmanned aerial vehicle (UAV) to home on a target with impact time and angle constraints, this paper presents a novel geometry-based guidance law composed of trajectory reshaping and tracking. A trajectory generation process using Bezier curves is introduced to satisfy the impact time and angle constraints under time-varying speed. The impact angle is satisfied by driving the UAV along a specified ending line. The impact time is satisfied by controlling the trajectory length, which is realized through adjusting one Bezier curve end point along the ending line. The adjustable range of this end point, along with the maximum trajectory curvature, is analyzed to ensure that the trajectory is flyable. Guidance command is generated using inverse dynamics. Numerical simulations under various scenarios are demonstrated to illustrate the performance and validate the effectiveness of the proposed method.
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Karimi, J., and Seid H. Pourtakdoust. "Integrated motion planning and trajectory control system for unmanned air vehicles." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 227, no. 1 (January 6, 2012): 3–18. http://dx.doi.org/10.1177/0954410011432244.
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Motion planning and trajectory control are two basic challenges of unmanned vehicles. In motion planning problem, feasible trajectories are developed while nonlinear dynamic model and performance constraints of the vehicle under utility are considered. In this study, motion planning is performed via an enhanced particle swarm optimization algorithm. The resulting offline generated trajectories are tracked using a nonlinear trajectory control system methodology. The Lyapunov-based constrained backstepping approach and command filters are utilized in designing the trajectory control system. Command filters smoothen the input signals and provide their derivatives. Evaluation of the proposed integrated approach in several simulated scenarios has effectively demonstrated the potential of both algorithms in generating optimal contour matching trajectories as well as excellent tracking capability of the trajectory control system.
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Dutta, Praneet, Rashmi Ranjan Das, Rupali Mathur, and Deepika Rani Sona. "OPP approach for multi degree of freedom robotic arm Based on Kinematics and Dynamics of Robot." IAES International Journal of Robotics and Automation (IJRA) 4, no. 4 (December 1, 2015): 284. http://dx.doi.org/10.11591/ijra.v4i4.pp284-291.
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This paper deals with the trajectory and path generation of the industrial manipulator. The trajectory is obtained using the equations of motion and also the optimal path planning (OPP) approach under kinodynamic constraints. The optimal control problem is defined for the minimum cost function and to obtain the necessary conditions. Here we have used pontrygain’s minimum principle to obtain the limiting value of joint angle and also the joint velocity and torque. In this paper we have used the “Two degree of freedom (DOF) manipulator” for analysis and designing the optimal control for multi link and multi degree of freedom manipulator. For analysis purposes, simulation software has been used to formulate the trajectory and minimize the cost function involved.
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Pitakwatchara, Phongsaen. "Locomotion generation for a mobile manipulator by global minimization of the weighted generalized momentum." International Journal of Advanced Robotic Systems 17, no. 4 (July 1, 2020): 172988142093093. http://dx.doi.org/10.1177/1729881420930936.
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This article presents a method for generating the locomotion of a mobile manipulator that globally minimizes the weighted generalized momentum. The method utilizes the calculus of variation setting to address the problem for which the optimal trajectory may be computed by solving the initial value problem of the system of ordinary differential equations rather than the two-point boundary value problem. Online optimal trajectory may then be input to a suitable tracking controller for controlling the robot in real time. Effectively, the robot closed-loop dynamics is shaped to the optimal system such that the locomotion minimizes the difference of the weighted generalized momentum and the assigned potential energy under the constraints imposed on by the tracking task, joint angle, and actuator torque limits. Desired locomotion behaviors may be achieved by properly adjusting the weighting, spring, and damping matrices. Exploiting the induced dynamical force from the cooperative motion of the constituent linkages through the momentum minimization basis, the robot is able to outperform conventional locomotion pattern actuated by the platform solely.
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Tang, Xinmin, Yu Zhang, Ping Chen, Bo Li, and Songchen Han. "Strategic Deconfliction of 4D Trajectory and Perturbation Analysis for Air Traffic Control and Automation System." Discrete Dynamics in Nature and Society 2016 (2016): 1–18. http://dx.doi.org/10.1155/2016/7028305.
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Strategic 4D trajectory conflict-free planning is recognized as one of the core technologies of next-generation air traffic control and automation systems. To resolve potential conflicts during strategic 4D conflict-free trajectory planning, a protection-zone conflict-control model based on air traffic control separation constraints was proposed, in which relationships between expected arrival time and adjusted arrival time at conflicting waypoints for aircraft queues were built and transformed into dynamic linear equations under the definition of max-plus algebra. A method for strategic deconfliction of 4D trajectory was then proposed using two strategies: arrival time adjustment and departure time adjustment. In addition, departure time and flight duration perturbations were introduced to analyze the sensitivity of the planned strategic conflict-free 4D trajectories, and a robustness index for the conflict-free 4D trajectories was calculated. Finally, the proposed method was tested for the Shanghai air traffic control terminal area. The outcomes demonstrated that the planned strategic conflict-free 4D trajectories could avoid potential conflicts, and the slack time could be used to indicate their robustness. Complexity analysis demonstrated that deconfliction using max-plus algebra is more suitable for deconfliction of 4D trajectory with random sampling period in fix air route.
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Subrin, Kévin, Laurent Sabourin, Grigore Gogu, and Youcef Mezouar. "Performance Criteria to Evaluate a Kinematically Redundant Robotic Cell for Machining Tasks." Applied Mechanics and Materials 162 (March 2012): 413–22. http://dx.doi.org/10.4028/www.scientific.net/amm.162.413.
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Machine tools and robots have both evolved fundamentally and we can now question the abilities of new industrial robots concerning accurate task realization under high constraints. Requirements in terms of kinematic and dynamic capabilities in High Speed Machining (HSM) are increasingly demanding. To face the challenge of performance improvement, parallel and hybrid robotic architectures have emerged and a new generation of industrial serial robots with the ability to perform machining tasks has been designed. In this paper, we propose to evaluate the performance criteria of an industrial robot included in a kinematically redundant robotic cell dedicated to a machining task. Firstly, we present the constraints of the machining process (speed, accuracy etc.). We then detail the direct geometrical model and the kinematic model of a robot with closed chain in the arm and we propose a procedure for managing kinematic redundancy whilst integrating various criteria. Finally, we present the evolution of the criteria for a given trajectory in order to define the best location for a rotary table and to analyze the manipulators stiffness.
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Chen, Yang, Jianda Han, and Xingang Zhao. "Three-dimensional path planning for unmanned aerial vehicle based on linear programming." Robotica 30, no. 5 (September 15, 2011): 773–81. http://dx.doi.org/10.1017/s0263574711000993.
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SUMMARYIn this paper, an approach based on linear programming (LP) is proposed for path planning in three-dimensional space, in which an aerial vehicle is requested to pursue a target while avoiding static or dynamic obstacles. This problem is very meaningful for many aerial robots, such as unmanned aerial vehicles. First, the tasks of target-pursuit and obstacle-avoidance are modelled with linear constraints in relative coordination according to LP formulation. Then, two weighted cost functions, representing the optimal velocity resolution, are integrated into the final objective function. This resolution, defined to achieve the optimal velocity, deals with the optimization of a pair of orthogonal vectors. Some constraints, such as boundaries of the vehicle velocity, acceleration, sensor range, and flying height, are considered in this method. A number of simulations, under static and dynamic environments, are carried out to validate the performance of generating optimal trajectory in real time. Compared with ant colony optimization algorithm and genetic algorithm, our method has less parameters to tune and can achieve better performance in real-time application.
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FREY, CLEMENS. "CO-EVOLUTION OF FINITE STATE MACHINES FOR OPTIMIZATION: PROMOTION OF DEVICES WHICH SEARCH GLOBALLY." International Journal of Computational Intelligence and Applications 02, no. 01 (March 2002): 1–16. http://dx.doi.org/10.1142/s1469026802000397.
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In this work a co-evolutionary approach is used in conjunction with Genetic Programming operators in order to find certain transition rules for two-step discrete dynamical systems. This issue is similar to the well-known artificial-ant problem. We seek the dynamic system to produce a trajectory leading from given initial values to a maximum of a given spatial functional.This problem is recast into the framework of input-output relations for controllers, and the optimization is performed on program trees describing input filters and finite state machines incorporated by these controllers simultaneously. In the context of Genetic Programming there is always a set of test cases which has to be maintained for the evaluation of program trees. These test cases are subject to evolution here, too, so we employ a so-called host-parasitoid model in order to evolve optimizing dynamical systems.Reinterpreting these systems as algorithms for finding the maximum of a functional under constraints, we have derived a paradigm for the automatic generation of adapted optimization algorithms via optimal control. We provide numerical examples generated by the GP-system MathEvEco. These examples refer to key properties of the resulting strategies and they include statistical evidence showing that for this problem of system identification the co-evolutionary approach is superior to standard Genetic Programming.
Dissertations / Theses on the topic "Trajectory generation under dynamic constraints"
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Nikolajevic, Konstanca. "Système décisionnel dynamique et autonome pour le pilotage d'un hélicoptère dans une situation d'urgence." Thesis, Valenciennes, 2016. http://www.theses.fr/2016VALE0008/document.
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Dans un contexte industriel aéronautique où les problématiques de sécurité constituent un facteur différentiateur clé, l’objectif de cette thèse est de répondre à la problématique ambitieuse de la réduction des accidents de type opérationnel. Les travaux de recherche s’inscrivent dans le domaine des systèmes d’alarmes pour l’évitement de collision qui ne font pas une analyse approfondie des solutions d’évitement par rapport à la situation de danger. En effet, les situations d’urgence en vol ne bénéficient pas à ce jour d’une représentation et d’un guide des solutions associées formels. Bien que certains systèmes d’assistance existent et qu’une partie de la connaissance associée aux situations d’urgence ait pu être identifiée, la génération dynamique d’une séquence de manœuvres sous fortes contraintes de temps et dans un environnement non connu à l’avance représente une voie d’exploration nouvelle. Afin de répondre à cette question et de rendre objective la notion de danger, les travaux de recherche présentés dans cette thèse mettent en confrontation la capacité d’évolution d’un aéronef dans son environnement immédiat avec une enveloppe physique devenant contraignante. Afin de mesurer ce danger, les travaux de recherche ont conduit à construire un module de trajectoires capable d’explorer l’espace en 3D. Cela a permis de tirer des enseignements en terme de flexibilité des manœuvres d’évitement possibles à l’approche du sol. De plus l’elicitation des connaissances des pilotes et des experts d’Airbus Helicopters (ancien Eurocopter) mis en situation d’urgence dans le cas d’accidents reconstitués en simulation a conduit à un ensemble de paramètres pour l’utilisation de la méthode multicritère PROMETHEE II dans le processus de prise de décision relatif au choix de la meilleure trajectoire d’évitement et par conséquent à la génération d’alarmes anti-collisionIn the aeronautics industrial context, the issues related to the safety constitute a highly differentiating factor. This PhD thesis addresses the challenge of operational type accident reduction. The research works are positioned and considered within the context of existing alerting equipments for collision avoidance, who don’t report a thorough analysis of the avoidance manoeuvres with respect to a possible threat. Indeed, in-flight emergency situations are various and do not all have a formal representation of escape procedures to fall back on. Much of operational accident scenarios are related to human mistakes. Even if systems providing assistance already exist, the dynamic generation of a sequence of manoeuvres under high constraints in an unknown environment remain a news research axis, and a key development perspective. In order to address this problematic and make the notion of danger objective, the research works presented in this thesis confront the capabilities of evolution of an aircraft in its immediate environment with possible physical constraints. For that purpose, the study has conducted to generate a module for trajectory generation in the 3D space frame, capable of partitioning and exploring the space ahead and around the aircraft. This has allowed to draw conclusions in terms of flexibility of escape manoeuvres on approach to the terrain. Besides, the elicitation of the Airbus Helicopters (former Eurocopter) experts knowledge put in emergency situations, for reconstituted accident scenarios in simulation, have permitted to derive a certain number of criteria and rules for parametrising the multicriteria method PROMETHEE II in the process for the relative decision-making of the best avoidance trajectory solution. This has given clues for the generation of new alerting rules to prevent the collisions
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Maithripala, Diyogu Hennadige Asanka. "Coordinated Multi-Agent Motion Planning Under Realistic Constraints." 2008. http://hdl.handle.net/1969.1/ETD-TAMU-3007.
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Considered is a class of cooperative control problems that has a special affine characterization.
Included in this class of multi-agent problems are the so called radar
deception problem, formation keeping and formation reconfiguration. An intrinsic geometric
formulation of the associated constraints unifies this class of problems and it
is the first time such a generalization has been presented. Based on this geometric formulation,
a real-time motion planning algorithm is proposed to generate dynamically
feasible reference trajectories for the class. The proposed approach explicitly considers
actuator and operating constraints of the individual agents and constrained dynamics
are derived intrinsically for the multi-agent system which makes these constraints
transparent. Deriving the constrained dynamics eliminates the need for nonlinear
programming to account for the system constraints, making the approach amenable
to real-time control. Explicit consideration of actuator and operating limitations and
nonholonomic constraints in the design of the reference trajectories addresses the important
issue of dynamic feasibility. The motion planning algorithm developed here
is verified through simulations for the radar deception, rigid formation keeping and
formation reconfiguration problems.
A key objective of this study is to advocate a change in paradigm in the approach
to formation control by addressing the key issues of dynamic feasibility and
computational complexity. The other important contributions of this study are: Unifying formulation of constrained dynamics for a class of problems in formation control
through the intrinsic geometry of their nonholonomic and holonomic constraints; Deriving
these constrained dynamics in any choice of frame that can even be coordinate
free; Explicit consideration of actuator and operating limits in formation control to
design dynamically feasible reference trajectories and Developing a real-time, distributed,
scalable motion planning algorithm applicable to a class of autonomous
multi-agent systems in formation control.
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Chih-Feng, Chou, and 周志峰. "Motion Trajectory Generation for Multi-Axis Machines under Velocity and Acceleration Constraints." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/68839169900053509426.
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碩士國立臺灣科技大學
電機工程系
89
A detailed study has been carried out for point-to-point motion and multi-axis motion trajectory by using 3-Cubic polynomial curves. The proposed polynomial motion curves include 3-Cubic polynomial under overlapping one period of time and two periods of time. The velocity profile of the motion curve is obtained by minimizly the motion time under both velocity and acceleration constraints. The proposed methods have been tested by MATLAB simulation.
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Ogunlowore, Olabanjo Jude. "Realtime Motion Planning for Manipulator Robots under Dynamic Environments: An Optimal Control Approach." Thesis, 2013. http://hdl.handle.net/10012/7405.
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This report presents optimal control methods integrated with hierarchical control framework to realize real-time collision-free optimal trajectories for motion control in kinematic chain manipulator (KCM) robot systems under dynamic environments.
Recently, they have been increasingly used in applications where manipulators are required to interact with random objects and humans. As a result, more complex trajectory planning schemes are required. The main objective of this research is to develop new motion control strategies that can enable such robots to operate efficiently and optimally in such unknown and dynamic environments. Two direct optimal control methods: The direct collocation method and discrete mechanics for optimal control methods are investigated for solving the related constrained optimal control problem and the results are compared.
Using the receding horizon control structure, open-loop sub-optimal trajectories are generated as real-time input to the controller as opposed to the predefined trajectory over the entire time duration. This, in essence, captures the dynamic nature of the obstacles. The closed-loop position controller is then engaged to span the robot end-effector along this desired optimal path by computing appropriate torque commands for the joint actuators.
Employing a two-degree of freedom technique, collision-free trajectories and robot environment information are transmitted in real-time by the aid of a bidirectional connectionless datagram transfer. A hierarchical network control platform is designed to condition triggering of precedent activities between a dedicated machine computing the optimal trajectory and the real-time computer running a low-level controller.
Experimental results on a 2-link planar robot are presented to validate the main ideas. Real-time implementation of collision-free workspace trajectory control is achieved for cases where obstacles are arbitrarily changing in the robot workspace.
Book chapters on the topic "Trajectory generation under dynamic constraints"
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Spirig, Marc, Ralf Kaestner, Dizan Vasquez, and Roland Siegwart. "Trajectory Generation and Control for a High-DOF Articulated Robot with Dynamic Constraints." In KI 2010: Advances in Artificial Intelligence, 382–91. Berlin, Heidelberg: Springer Berlin Heidelberg, 2010. http://dx.doi.org/10.1007/978-3-642-16111-7_44.
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Chu, C. Y. Cyrus. "Cyclical Patterns of Human Population: Summary of Previous Research." In Population Dynamics. Oxford University Press, 1998. http://dx.doi.org/10.1093/oso/9780195121582.003.0012.
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According to Chesnais (1992), the fluctuation of human populations can be summarized into three broad categories: the pretransitional, transitional, and posttransitional cycles. In the pretransitional period before the Industrial Revolution, population fluctuations appear to reflect natural constraints of the environment. In more recent centuries, there were changes of the vital rates from high fertility-high mortality to low fertility-low mortality, which are referred to as demographic transitions. In this transitional period, because the decline of mortality usually leads that of fertility, fluctuations in the population age structure are a natural consequence of such a transition. After this transitional period, in many developed countries the mortality rate is stabilized, and female fertility becomes a typical family decision. Since family fertility decisions are related to other market institutions, the posttransitional population cycles have close interactions with these institutional elements. Although the population cycles can be separated into the three above-mentioned types, these cyclical movements share one common feature: the Malthusian environmental check always plays a direct or indirect role. In the next few chapters, I will discuss how the environmental checks interact with human decisions and institutions and how these interactions affect the cyclical movement of the population. Thomas Malthus argued that all populations are subject to environmental constraints and that these constraints operate through a variety of checks to population growth. If there are no such checks, we have a stationary branching process as described in chapters 2-6. In that case, the population will converge to a steady state under weak assumptions, and there are fluctuations only in the process of convergence. When there are environmental checks, the strength of the checks determines the speed with which the system tends toward equilibrium; this speed, relative to response lags that are intrinsic to the process, heavily influences the dynamic behavior of the economic-demographic system. When checks are weak, shocked populations tend to converge slowly without overshooting and to move in cycles one generation long (Lee, 1974). If checks arc stronger, overshooting may occur, and longer cycles of periodicity spanning two generations or more are possible, as population size and growth rates oscillate about their equilibrium values.
Conference papers on the topic "Trajectory generation under dynamic constraints"
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Jayasinghe, J. A. S., and A. M. B. G. D. A. Athauda. "Smooth trajectory generation algorithm for an unmanned aerial vehicle (UAV) under dynamic constraints: Using a quadratic Bezier curve for collision avoidance." In 2016 Manufacturing & Industrial Engineering Symposium (MIES). IEEE, 2016. http://dx.doi.org/10.1109/mies.2016.7780258.
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Mummolo, Carlotta, Luigi Mangialardi, and Joo H. Kim. "Contact Status Optimization of Multibody Dynamic Systems Using Dual Variable Transformation." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-34193.
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Generating the motion of redundant systems under general constraints within an optimization framework is a problem not yet solved, as there is, so far, a lack of completely predictive methods that concurrently solve for the optimal trajectory and the contact status induced by the given constraints. A novel approach for optimal motion planning of multibody systems with contacts is developed, based on a Sequential Quadratic Programming (SQP) algorithm for Nonlinear Programming (NLP). The objective is to detect and optimize the contact status and the relative contact force within the optimization sequential problem, while simultaneously optimizing a trajectory. The novelty is to seek for the contact information within the iterative solution of the SQP algorithm and use this information to sequentially update the resulting contact force in the system’s dynamic model. This is possible by looking at the analytical relationship between the dual variables resulting from the constrained NLP and the Lagrange multipliers that represent the contact forces in the classical formulation of constrained dynamic systems. This approach will result in a fully predictive algorithm that doesn’t require any a priori knowledge on the contact status (e.g., time of contact, point of contact, etc.) or contact force magnitude. A preliminary formulation is presented, as well as numerical experiments on simple planar manipulators, as demonstration of concepts.
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Lee, Ho-Hoon. "Trajectory Generation and Control of a Mobile Robot in the Environment of Obstacles." In ASME 2017 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/imece2017-72258.
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This paper proposes a path-planning control scheme for a mobile robot navigating through multiple obstacles. The proposed control consists of a trajectory generation scheme and a motion control scheme. The trajectory generation scheme computes the translational and rotational reference velocities in real time that drive the robot to a given goal position while avoiding multiple obstacles. The trajectory generation scheme is insensitive to high-frequency measurement noises. The motion control scheme computes the driving force and rotational torque required for the robot to track the reference velocities. The nonholonomic constraints of the mobile robot are used in the design of the kinematic trajectory generation scheme, where a repulsive potential function is used for obstacle avoidance. The dynamic model of the robot is used in the design of the motion control scheme. In the control design, the Lyapunov stability theorem is used as a mathematical design tool. Under certain conditions, the proposed control guarantees asymptotic stability while keeping all internal signals bounded. The effectiveness of the proposed control method has been shown with realistic computer simulations.
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Lee, Ho-Hoon. "Control Design of a Mobile Robot in the Environment of Obstacles Based on a Rounded V-Shape Lyapunov Function." In ASME 2019 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/imece2019-10989.
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Abstract This paper proposes a V-shape Lyapunov function method with application to the design of a control scheme for a mobile robot navigating through multiple obstacles. The proposed design method solves the serious problem of input saturation due to big position errors in the beginning of the control associated with the conventional parabolic Lyapunov function method. The resulting control consists of a trajectory generation scheme and a motion control scheme. The trajectory generation scheme computes the translational and rotational reference velocities in real time that drive the robot to a given goal position while avoiding multiple obstacles. The motion control scheme computes the driving force and rotational torque to track the reference velocities. The nonholonomic constraints of the mobile robot are used in the design of the kinematic trajectory generation scheme, where a repulsive potential function is used for obstacle avoidance. The dynamic model of the robot is used in the design of the motion control scheme. Under certain conditions, the proposed control guarantees asymptotic stability while keeping all internal signals bounded. The effectiveness of the proposed control method has been shown with realistic computer simulations.
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Lee, Ho-Hoon, and Cris Koutsougeras. "A Leader-Following Formation Control of a Group of Mixed-Type Mobile Robots." In ASME 2016 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/imece2016-66233.
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This paper proposes a leader-following formation control for a group of mixed-type mobile robots such as unicycle-type, carlike, and forklift-type robots. These robots are quite different in kinematics and dynamics. The leader follows its desired trajectory while the rest of robots are following the leader in a specified formation. The proposed formation control computes the desired driving force and steering torque of each robot. The proposed control consists of a formation control scheme and a kinematic trajectory generation scheme for the leader of a group. The nonholonomic constraints of each of the mixed-type mobile robots are taken into account in the design of the formation control and trajectory generation schemes, in which the Lyapunov stability theorem and the loop shaping method are used as design tools. Under certain conditions, the proposed formation control guarantees asymptotic stability while keeping all internal signals bounded. The effectiveness of the proposed control has been shown with realistic computer simulations.
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Kim, Soonkyum, Koushil Sreenath, Subhrajit Bhattacharya, and Vijay Kumar. "Optimal trajectory generation under homology class constraints." In 2012 IEEE 51st Annual Conference on Decision and Control (CDC). IEEE, 2012. http://dx.doi.org/10.1109/cdc.2012.6425970.
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Guilbert, Matthieu, Pierre-brice Wieber, and Luc Joly. "Optimal Trajectory Generation for Manipulator Robots under Thermal Constraints." In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2006. http://dx.doi.org/10.1109/iros.2006.282623.
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Suryawan, Fajar, Jose De Dona, and Maria Seron. "Methods for trajectory generation in a magnetic-levitation system under constraints." In Automation (MED 2010). IEEE, 2010. http://dx.doi.org/10.1109/med.2010.5547748.
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Kim, Joo H., Karim Abdel-Malek, Yujiang Xiang, Jingzhou James Yang, and Jasbir S. Arora. "Dynamic Motion Generation for Redundant Systems Under External Constraints." In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-28518.
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Dynamics of mechanical systems during motion usually involves reaction forces and moments due to the interaction with external objects or constraints from the environment. The problem of predicting the external reaction loads under rigid-body assumption has not been addressed extensively in the literature in terms of optimal motion planning and simulation. In this presentation, we propose a formulation of determining the external reaction loads for redundant systems motion planning. For dynamic equilibrium, the resultant reaction loads that include the effects of inertia, gravity, and general applied loads, are distributed to each contact points. Unknown reactions are determined along with the system configuration at each time step using iterative nonlinear optimization algorithm. The required actuator torques as well as the motion trajectories are obtained while satisfying given constraints. The formulation is applied to several example motions of multi-rigid-body systems such as a simple 3-degree-of-freedom welding manipulator and a highly articulated whole-body human mechanism. The example results are compared with the cases where the reactions are pre-assigned. The proposed formulation demonstrates realistic distribution of external reaction loads and the associated goal-oriented motions that are dynamically consistent.
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Lin, Letian, and J. Jim Zhu. "Trajectory Generation From Paths for Autonomous Ground Vehicles." In ASME 2020 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/dscc2020-3300.
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Abstract Path-to-trajectory conversion problem for car-like autonomous ground vehicles has been studied in various ways. It is challenging to generate a trajectory which is dynamically feasible for the vehicle and comfortable for the passengers. An important practical concern of low computational costs makes the problem even more difficult. In this work, a path-to-trajectory converter is developed using a novel receding-horizon type suboptimal algorithm. By transforming the dynamic constraints to a longitudinal velocity limit function in the velocity-acceleration phase plane, a time-sub-optimal trajectory satisfying the dynamic constraints and the initial boundary condition is generated by computing the maximum constant acceleration in the down-range horizon. The portion of the trajectory approaching the end of the path is generated in reverse time. As illustrated by some simulation results and validation on a full-scale Kia Soul EV, the proposed path-to-trajectory conversion algorithm is able to account for dynamic constraints of the vehicle and guarantees passenger comfort.