This paper proposes a trajectory planning and tracking approach for cylindrical heat exchanger process that is considered, under some assumptions, as a bilinear system. The proposed technique is based on orthogonal functions and especially the use of operational integration and product matrices. These operational tools allow the conversion of a bilinear differential state equation into an algeb...

Motion-planning for autonomous vehicles involves a two-level planning hierarchy: a high-level task-planning algorithm and a lower-level trajectory generation algorithm. The task planner operates on a discrete structure, such as a graph, whereas the trajectory generator operates on a dynamical system with a continuous state space. The problem of ensuring “compatibility” between these two planner...

In this letter, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our first employs graph-based multi-agent path planner find an initial discrete solution, and then refines solution into smooth using nonlinear optimization. We divide the robot team small groups propose prioritized traje...

Trajectory (path) planning is a well known and thoroughly studied field of automated planning. It is usually used in computer games, robotics or autonomous agent simulations. Grids are often used for regular discretization of continuous space. Many methods exist for trajectory (path) planning on grids, we address the well known A* algorithm and the state-of-the-art Theta* algorithm. Theta* algo...

We present motion planning for dexterous manipulation by whole arm grasp system based on switching contact modes. Motion planning for such a system should consider changing dynamics and kinematics according to the contact modes. We systematize the properties of the manipulation system by taking account of contact dynamics and kinematics, and derive the conditions to be satisfied in motion plann...

Automatic lane-changing is a complex and critical task for autonomous vehicle control. Existing researches on technology mainly focus avoiding obstacles; however, few studies have accounted dynamic lane changing based some certain assumptions, such as the speed constant or terminal state known in advance. In this study, typical scenario developed with consideration of preceding lagging vehicles...

Abstract. In this paper, the minimum time feedrate trajectory planning problem for five-axis computer numerical control (CNC) machining is studied. A more accurate model for the feedrate trajectory planning problem is proposed by constraining the velocity, acceleration, and jerk for all five axes in the joint space and constraining the chord error in the workpiece coordinate system. For the new...

Keywords: Car-like robot Trajectory planning Time-optimal control Simultaneous dynamic optimization Interior-point method Computational guidance and control a b s t r a c t Trajectory planning in robotics refers to the process of finding a motion law that enables a robot to reach its terminal configuration, with some predefined requirements considered at the same time. This study focuses on pla...

Trajectory planning for robots is a very important issue in those industrial activities which have been automated. The introduction of robots into industry seeks to upgrade not only the standards of quality but also productivity as the working time is increased and the useless or wasted time is reduced. Therefore, trajectory planning has an important role to play in achieving these objectives (...