In this paper a real-time trajectory generation algorithm for computing 2-D optimal paths for autonomous aerial vehicles has been discussed. A dynamic programming approach is adopted to compute k-best paths by minimizing a cost function. Collision detection is implemented to detect intersection of the paths with obstacles. Our contribution is a novel approach to the problem of trajectory genera...

This paper addresses the dynamic path planning for two mobile robots in unknownenvironment with obstacle avoidance and moving target tracking. These robots must form atriangle with moving target. The algorithm is composed of two parts. The first part of thealgorithm used for formation planning of the robots and a moving target. It generates thedesired position for the robots for the next step. ...

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 ...

This paper presents a cooperative coevolutionary approach to path planning for two robotic arms sharing common workspace. Each arm is considered an agent, required to find transition strategy from given initial to final configuration in the work space. Since the robots share workspace, they present dynamic obstacle to each other. To solve the problem of path planning in optimized fashion, we fo...

This paper is concerned with the problem of finding a time-optimal velocity profile along the predefined path for static formations of mobile robots in order to traverse the path in shortest time and to satisfy, for each mobile robot in the formation, velocity, acceleration, tip over and wheel slip prevention constraints. Time-optimal velocity planning is achieved using so called bang-bang cont...

This case study discusses the interpolation of minimum-jerk robot joint trajectories through an arbitrary number of knots using a hard-wired neural network. Minimum-jerk joint trajectories are desirable for their similarity to human joint movements and their amenability to accurate tracking. The resultant trajectories are numerical functions of time. The interpolation problem is formulated as a...

This paper discusses how to plan continuous-curvature paths for carlike wheeled mobile robots. The task is to generate a trajectory with upper-bounded curvature and curvature derivative. To solve this problem we use three path planning primitives, namely straight line segments, circular segments, and continuous-curvature turns (CC turns) in the path planning. We give a classification of the CC ...

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...

Localization is an essential issue in mobile networks because many applications require the mobile to know their locations with a high degree of precision. Various localization methods based on mobile anchor nodes have been proposed for assisting the mobile nodes to determine their locations. However, none of these methods attempt to optimize the trajectory of the mobile anchor node. Different ...

This study considers the problem of generating optimal, kino-dynamic-feasible, and obstacle-free trajectories for a quadrotor through indoor environments. We explore methods to overcome challenges faced by quadrotors settings due their higher-order vehicle dynamics, relatively limited free spaces environment, challenging optimization constraints. In this research, we propose complete pipeline p...