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Relevant bibliographies by topics / Trajectory generation under dynamic constraints

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Academic literature on the topic 'Trajectory generation under dynamic constraints'

Author: Grafiati

Published: 4 June 2021

Last updated: 15 February 2022

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Journal articles on the topic "Trajectory generation under dynamic constraints"

1

Al Younes, Younes, and Martin Barczyk. "Nonlinear Model Predictive Horizon for Optimal Trajectory Generation." Robotics 10, no. 3 (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 fast

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2

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 (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 gu

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3

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 (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 alon

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4

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 (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. Comm

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5

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 (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 li

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6

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 (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

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7

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 decon

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8

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 robo

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9

Chen, Yang, Jianda Han, and Xingang Zhao. "Three-dimensional path planning for unmanned aerial vehicle based on linear programming." Robotica 30, no. 5 (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. Th

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10

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 (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 simult

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