Optimal Trajectory Planning for Multiphase Lunar Landing

Optimal Guidance for Lunar Module Soft Landing

In this paper, we consider an optimal control problem arising from the optimal guidance of a lunar module to achieving soft landing, where the description of the system dynamics is in a three-dimensional coordinate system. Our aim is to construct an optimal guidance law to realize the soft landing of the lunar module with the terminal attitude of the module to be within a small deviation from b...

Optimal Trajectory Planning for the Apollo Moon Landing: Descent, Ascent, and Aborts

This paper presents optimal trajectory solutions for guiding the Apollo Lunar Excursion Module (LEM) to and from the Moon’s surface. GPOPS− II was used to solve the nonlinear control problem, providing full state and control histories for optimal ascent, descent and abort scenarios. Although historically Apollo did not follow an optimal trajectory due to terrain and navigation constraints, the ...

Optimal Trajectory Planning of a Box Transporter Mobile Robot

This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

Optimal trajectory planning for industrial robots

An analysis of the results of an algorithm for optimal trajectory planning of robot manipulators is described in this paper. The objective function to be minimized is a weighted sum of the integral squared jerk and the execution time. Two possible primitives for building the trajectory are considered: cubic splines or fifth-order B-splines. The proposed technique allows to set constraints on th...

Optimal Trajectory Planning for Spray Coating