To move while using new sensor information, mobile robots use receding-horizon planning, executing a short plan computing one. A should have dynamic feasibility (obeying robot's dynamics and avoiding obstacles), liveness (planning frequently enough to complete tasks), optimality (minimizing, e.g., distance goal). Reachability-based trajectory design (RTD) is method generate provably dynamically...

Currently, the teaching programming or offline used by an industrial manipulator can manually set running speed of manipulator. In this paper, to consider and stability manipulator, time-optimal trajectory planning (TOTP) is transformed into a nonlinear optimal value search problem under multiple constraints, time-search algorithm based on fuzzy control proposed, so that end run along given pat...

This paper presents a novel trajectory planning approach for nonlinear dynamical systems; multi-rotor drone, built on an optimization-based framework proposed by the authors named Nonlinear Model Predictive Horizon. In present work, this method is integrated with Backstepping Control technique. The goal to remove non-convexity of optimization problem in order provide real-time computation refer...

I INTRODUCTION Minimum time point to point motion planning has been solved considering kinematical constraints on speed and acceleration [3]. These bounds are approximations and imply the full capability of the robot cannot be utilized. Efficiency can be increased by considering the characteristics of the robot dynamics. [l] has presented a trajectory generation based on optimal control formula...

This dissertation addresses the modeling, identification, and control of an automated planing vessel. To provide motion models for trajectory generation and to enable model-based control design for trajectory tracking, several experimentally identified models are compared over a wide range of speed and planing conditions for the Virginia Tech Ribcraft Unmanned Surface Vehicle. The modeling and ...