A method is presented for optimizing the motions of articulated systems along specified paths, minimizing a time-energy cost function. Using a transformation to path variables, the optimization problem is formulated in a reduced two dimensional state space. The necessary conditions for optimality, stated for the reduced problem, lead to a compact two point boundary value problem that requires t...

| This paper 0 deals with motion planning and control for mobile robots. The various components of an integrated architecture for the mobile robot Hilare pulling a trailer are presented. The nonholonomic path planner is based on an original steering method accounting for the small-time controllability of the system. Then the path is transformed into a trajectory by including the dynamical const...

| This paper deals with motion planning and control for mobile robots. The various components of an integrated architecture for the mobile robot Hilare pulling a trailer are presented. The nonholonomic path planner is based on an original steering method accounting for the small-time controllability of the system. Then the path is transformed into a trajectory by including the dynamical constra...

In this work we show that one can solve a finite horizon non-Markovian impulse control problem with dependant dynamics. This dynamic satisfies certain functional Lipschitz conditions and is path dependent in such way the resulting trajectory becomes flow.

in this study, the problem of determining an optimal trajectory of a nonlinear injection into orbit problem with minimum time was investigated. the method was based on orthogonal polynomial approximation. this method consists of reducing the optimal control problem to a system of algebraic equations by expanding the state and control vector as chebyshev or legendre polynomials with undetermined...

The problem of planning a safe trajectory for a free-flying robot to approach an uncontrolled spinning satellite is addressed. First, a heuristic plan is presented for a simple planar case, which constructs a collision-free path within realistic system constraints. Second, a general numerical optimization technique for planning a safe spatial trajectory is presented. In it, the approach path is...

this paper presents a parameterization method to optimal trajectory planning and dynamic obstacle avoidance for omni-directional robots. the aim of trajectory planning is minimizing a quadratic cost function while a maximum limitation on velocity and acceleration of robot is considered. first, we parameterize the trajectory using polynomial functions with unknown coefficients which transforms t...

We consider an approximation scheme using Haar wavelets for solving a class of infinite horizon optimal control problems (OCP's) of nonlinear interconnected large-scale dynamic systems. A computational method based on Haar wavelets in the time-domain is proposed for solving the optimal control problem. Haar wavelets integral operational matrix and direct collocation method are utilized to find ...

In this paper we present two path planning algorithms based on Bézier curves for autonomous vehicles with waypoints and corridor constraints. Bézier curves have useful properties for the path generation problem. The paper describes how the algorithms apply these properties to generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join cubic Bézier curve ...