A smooth-primitive constrained-optimization-based path-tracking algorithm for mobile robots that compensates for rough terrain, predictable vehicle dynamics, and vehicle mobility constraints has been developed, implemented, and tested on the DARPA LAGR platform. Traditional methods for the geometric path following control problem involve trying to meet position constraints at fixed or velocity ...

This paper presents a car parking control concept for real-time application. It utilizes a two-degrees-of-freedom control scheme consisting of a feedforward and a feedback controller. The reference trajectory is constructed in two steps. First a geometric path is planned by solving a local static optimization problem, which is formulated by discretizing the path. Second a pathfollowing problem ...

the trajectory planning, which is known as a movement from starting to end point by satisfying the constraints along the path is an essential part of robot motion planning. a common way to create trajectories is to deal with polynomials which have independent coefficients. this paper presents a trajectory formulation as well as a procedure to arrange the suitable trajectories for applications. ...

In this article, we address the control problem of unicycle path following, using a rigidly attached target point. The initial path following problem has been transformed into a reference trajectory following problem, using saturated control laws and a geometric characterization hypothesis, which links the curvature of the path to be followed with the target point. The proposed controller allow...

In this article, we have addressed the control problem of unicycle path following, using a rigidly attached target point. The initial path following problem has been transformed into a reference trajectory following problem, using saturated control laws and a geometric characterization hypothesis. This hypothesis links the curvature of the path to be followed with the target point. The proposed...

In this paper, a simple, non-sensitive, robust, and accurate computational procedure is presented and it does not require a prior knowledge of a reference trajectory for computing the optimum trajectory for minimum-time-toclimb to a prescribed final altitude of a supersonic aircraft. From the program, we fnst generate the possible range of initial Mach numbers, initial altitudes and climb times...

The paper focuses on problems af optimal control over a large time interval with end states prescribed. For a wide class of systems and performance indices, an approximate solution is characterized by piecing together two solutions for two infinite time problems. These solut~ons exhibit similar transient behaviour. L INTRODUCTION CONSIDER the following linear quadratic optimal o T control probl...

this paper presents optimal control method to path planning of mobile robots with flexible joints. dynamic equations are derived and additional kinematic constraints are used to solve the extra dofs arose from base mobility. then with modeling the elasticity at each joint as a linear torsinal spring, the set of equations are formed. the hamiltonian function is formed and the necessary condition...