Optimal Motion Paths in Ambient Fields
نویسنده
چکیده
The motion of water or the atmosphere that surrounds or supports a mobile platform affects the motion of the platform in a favorable or unfavorable way. Exploiting and compensating the ambient field is investigated for different motion objectives like the classical point to point motion, observation motion, exploration motion and so-called survival motion. Time and energy optimal trajectories in the presence of fields are formalized and shown to be computable by means of discrete optimization.
منابع مشابه
Planning High-quality Paths and Corridors Amidst Obstacles
The motion-planning problem, involving the computation of a collision-free path for a moving entity amidst obstacles, is a central problem in fields like Robotics and Game Design. In this paper we study the problem of planning high-quality paths. A high-quality path should have some desirable properties: it should be short and avoid long detours, and at the same time it should stay at a safe di...
متن کاملDynamic Load Carrying Capacity of Flexible Manipulators Using Finite Element Method and Pontryagin’s Minimum Principle
In this paper, finding Dynamic Load Carrying Capacity (DLCC) of flexible link manipulators in point to-point motion was formulated as an optimal control problem. The finite element method was employed for modelling and deriving the dynamic equations of the system. The study employed indirect solution of optimal control for system motion planning. Due to offline nature of the method, many diffic...
متن کاملطراحی و تعقیب مسیر رباتهای زیرسطحی در محیطهای دینامیک با استفاده از روشهای حل تبدیل هوشمند و کلاسیک
In this paper, first a sample Autonomous Underwater Vehicle called NEROV from the University of Trondheim of Norway has been selected with its equations of motion and by using dynamic programming approach optimal paths for consuming energy have been designed. There are moving obstacles in the environment wherein the robot moves. It is seen that the planned paths is smooth and the energy used fo...
متن کاملWeighted Optimal Path in Graph with Multiple Indexes
This paper represents a technique for finding optimal paths with multiple indexes in a graph. Up to the present time, all optimal paths have been determined upon one index, say, distance for which an evaluation method exists. In this paper firstly we define multiple indexes for each edge in such a way that anyone can treat the factor for assigning an optimal path. Here, we use Data Envelopment ...
متن کاملThe Optimal Allocation of Iran's Natural Gas
T he optimal allocation of natural gas resources to various uses such as final and intermediate consumption, injection into oil fields, and exports can help policymakers to use this kind of resources efficiently. Empirical evidence support using hyperbolic discount rates instead of fixed discount rates in the economic literature. The purpose of this study is to maximize the social we...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- Informatica (Slovenia)
دوره 36 شماره
صفحات -
تاریخ انتشار 2012