This paper presents a new solution to the motion planning problem for nonlinear underactuated vehicles. The approach solves the problem by generating a polynomial curve connecting the desired initial and final positions for the vehicle and then using the curve to estimate the vehicle’s complete configuration along the trajectory. The algorithm introduces an iterative H∞filter to improve upon th...

| This paper addresses dynamic trajectory planning, which is deened as motion planning for a robot A moving in a dynamic workspace W, i.e. a workspace cluttered up with stationary and moving obstacles. Besides A is subject both to kinematic constraints, i.e. constraints involving the connguration parameters of A and their derivatives, and dynamic constraints, i.e. constraints on the forces, the...

The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC), a fleet of quadrotor helicopters, has been developed as a testbed for novel algorithms that enable autonomous operation of aerial vehicles. This paper develops an autonomous vehicle trajectory tracking algorithm through cluttered environments for the STARMAC platform. A system relying on a single optimization must ...

Autonomous vehicles require optimal path planning algorithms to achieve mission goals while avoiding obstacles and being robust to uncertainties. The uncertainties arise from exogenous disturbances, modeling errors, and sensor noise, which can be characterized via stochastic models. Previous work defined a notion of robustness in a stochastic setting by using the concept of chance constraints. ...

This article studies the trajectory planning of redundant robots performing tasks within an enclosed workspace. Configuration control of kinematically redundant manipulators using the pseudo-inverse with null-space projection method is a wellknown scheme. One advantage of this method is that the gradient of an objective function can be included in the homogeneous term to optimize the objective ...

This paper proposed a new approach for optimum path planning in 2D environments cluttered with static obstacles. The presented model consists of four steps.In the first step, the skeleton of free obstacles space is extracted. The thin lines are converted into a graph in the second step. the determination of shortest length trajectory is done in the third step. The last step is consacred to cons...

Preliminary notes The paper discusses the problem of effective motion planning for industrial robots. The first part deals with current method for off-line path planning. In the second part is presented the work done with one of the simulation systems with automatic trajectory generation and off-line programming capability. A spot welding process is involved. The practical application of this s...

in this paper, according to high load capacity and rather large workspace characteristics of cable driven robots (cdrs), maximum dynamic load carrying capacity (dlcc) between two given end points in the workspace along with optimal trajectory is obtained. in order to find dlcc of cdrs, joint actuator torque and workspace of the robot constraints concerning to non-negative tension in cables are ...

trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. in this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set of time. along the path, the robot requires to observe a certain acceleration profil...

Motion planning of mobile robots is a complex problem. The complexity further increases when it comes to path planning in dynamic environments. This paper presents an algorithm for on-line path planning of mobile robots in unknown environments with moving obstacles. A mathematical model is established which considers all the current on-line information of robot as well as nearing obstacles. Par...