Exploiting structure is essential to an understanding of motion planning. Here, we exploit the topology of the environment to discover connected components. Inside a connected component, instead of planning one trajectory in configuration space, motion planning can be seen as optimizing a set of homotopically equivalent particle trajectories. In this paper, we will concentrate on the problem of...

about the behaviour of the leading trajectory for small values of X or/and high values of s is that it has the form of (13) with some x0. Comparing the value of I obtained from eq. (9) and (13) we are faced with a striking difference between the behaviour of the trajectory for X + -0 and)c +O. It means that the solution of the integral eq. (4) has a singularity in X at h = 0,’ namely the bound ...

Accuracy is clearly an important feature of PKM. Still it is difficult to evaluate what will be the influence of the sensor errors on the positioning errors except at one particular pose. We present a method that allow us, provided an analytical form of the inverse jacobian matrix of the robot, to estimate safely if the positioning errors may exceed some given thresholds over a given workspace ...

The problem of biped locomotion at steady speeds is discussed through a Lagrangian formulation developed for velocity-dependent, body driving forces. Human walking on a level surface is analyzed in terms of the data on the resultant ground-reaction force and the external work. It is shown that the trajectory of the center of mass is due to a superposition of its rectilinear motion with a given ...

In this paper we consider periodic optimal operation of constrained periodic linear systems. We propose an economic model predictive controller based on a single layer that unites dynamic real time optimization and control. The proposed controller guarantees closed-loop convergence to the optimal periodic trajectory that minimizes the average operation cost for a given economic criterion. A-pri...

1.1 Trajectory planning This chapter is a contribution to the field of Artificial Intelligence. Artificial Intelligence can be defined as the study of methods by which a computer can simulate aspects of human intelligence (Moravec, 2003). Among many mental capabilities, a human being is able to find his own path in a given environment and to optimize it according to the situation requirements. ...

A new technique for stabilizing nonholonomic systems to trajectories is presented. It is well known (see [2]) that such systems cannot be stabilized to a point using smooth static-state feedback. In this note, we suggest the use of control laws for stabilizing a system about a trajectory, instead of a point. Given a nonlinear system and a desired (nominal) feasible trajectory, the note gives an...

In this paper, a 2 DOF planar robot was controlled by Mamdani type-PD-Fuzzy Logic Controller (FLC) tuned with particle swarm algorithm (PSO). In a tuning process of PD-FLC, several trajectories were applied to the robot system. The parameters of fuzzy controller were updated based on squared mean error cost function. The PD-FLC tuned by PSO was tested with a different trajectory. The error of t...

Deceleration rates have considerable influence on the fuel economy of hybrid electric vehicles. Given the vehicle characteristics and actual/measured operating conditions, as well as upcoming route information, optimal velocity trajectories can be constructed that maximize energy recovery. To support the driver in tracking of the energy optimal velocity trajectory, automatic cruise control is a...

This paper gives a survey of some recent results on control of systems with magnitude and rate limits, motivated by problems in real-time trajectory generation and tracking for unmanned aerial vehicles. Two problems are considered: stabilization using “nonlinear wrappers” to rescale a given control law and real-time trajectory generation using differential flatness. For both problems, simplifie...