For many tasks, predictive path-following control can significantly improve the performance and robustness of autonomous robots over traditional trajectory tracking control. It does this by prioritizing closeness to the path over timed progress along the path and by looking ahead to account for changes in the path. We propose a novel predictive pathfollowing approach that couples feedforward li...

The problem of path generation for the spherical 4R mechanism is solved using the Differential Evolution algorithm (DE). Formulas for the spherical geodesics are employed in order to obtain the parametric equation for the generated trajectory. Direct optimization of the objective function gives the solution to the path generation task without prescribed timing. Therefore, there is no need to se...

Motivated by the path planning problem for robotic systems this paper considers nonholonomic path planning on the Euclidean group of motions SE(n) which describes a rigid bodies path in n-dimensional Euclidean space. The problem is formulated as a constrained optimal kinematic control problem where the cost function to be minimised is a quadratic function of translational and angular velocity i...

We consider the problem of generating an optimal aircraft reference trajectory in a horizontal plane, where the objective is to minimize exposure to a spatiotemporally varying scalar field. We consider a special case, where this field is timeinvariant, and we discuss optimal trajectory generation for an aircraft kinematic model based on firstand second-order necessary conditions of optimal cont...

The paper presents a solution to the problem of combined trajectory tracking and path following system design for underactuated mobile robots with non negligible dynamics. This problem is motivated by the practical need to develop control systems for mobile robots that can yield good trajectory tracking performance while keeping some of the properties that are normally associated with path foll...

Given a geometric path, the Time-Optimal Path Tracking problem consists in finding the control strategy to traverse the path time-optimally while regulating tracking errors. A simple yet effective approach to this problem is to decompose the controller into two components: (i) a path controller, which modulates the parameterization of the desired path in an online manner, yielding a reference t...

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. This paper describes how the algorithms apply these properties to generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join a set of low-degre...

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. This paper describes how the algorithms apply these properties to generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join a set of low-degre...

When the minimum-time trajectory of a manipulator along a geometrically prescribed path is planned taking into consideration the manipulator’s dynamics and actuator’s torque limits, at least one of the joints should be at the torque limit. The execution of such a trajectory by a conventional feedback control scheme results in torque saturation. Consequently, the tracking error cannot be suppres...