This paper proposes genetic algorithms (GAs) for path planning and trajectory planning of an autonomous mobile robot. Our GA-based approach has an advantage of adaptivity such that the GAs work even if an environment is time-varying or unknown. Therefore, it is suitable for both off-line and on-line motion planning. We first presents a GA for path planning in a 2D terrain. Simulation results on...

ABSTRACT: Most of the trajectory planning based on robot dynamics and kinematics start from the joint space, can not guarantee the robot end track corresponding relationship. To solve the above problem, the method of trajectory planning is proposed and the optimization algorithm is used to solve the optimization trajectory. Taking the SCARA robot as an example, the trajectory of the end traject...

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. ...

The Space Shuttle’s two-dimensional entry trajectory planning method is extended to three dimensions. Both angle-of-attack and angle-of-bank variations are used to control the entry trajectory. The trajectory planning is done with a third-order system of differential equations using the drag and lateral accelerations as intermediate controls. The reduced-order planning problem is solved first i...

The Shuttle's two-dimensional entry trajectory planning method is extended to threedimensions. Both angle of attack and angle of bank variations are used to control the entry trajectory. The trajectory planning is done with a third-order system of di erential equations using the drag and lateral accelerations as intermediate controls. The reducedorder planning problem is solved as an optimal co...

Many critical robotics applications require robustness to disturbances arising from unplanned forces, state uncertainty, and model errors. Motion planning algorithms that explicitly reason about robustness require a coupling of trajectory optimization and feedback design, where the system’s closed-loop response to disturbances is optimized. Due to the often-heavy computational demands of solvin...

Many critical robotics applications require robustness to disturbances arising from unplanned forces, state uncertainty, and model errors. Motion planning algorithms that explicitly reason about robustness require a coupling of trajectory optimization and feedback design, where the system’s closedloop response to bounded disturbances is optimized. Due to the often-heavy computational demands of...

cable driven parallel manipulator (cdpm) is a special class of parallel manipulator in which the rigid extensible links are replaced by actuated cables. it is necessary to take into consideration the cable dynamics, i.e.; its mass, flexibility and curved shape for manipulating a long-span cdpm. these terms complicate governing equation of motion in a way that special tactic are applied for simu...

| This paper addresses trajectory planning in dynamic workspaces, i.e. trajectory planning for a robot subject to dynamic constraints and moving in a workspace with moving obstacles. First is introduced the novel concept of state-time space, i.e. the state space of the robot augmented of the time dimension. Like the concept of connguration space which is a tool to formulate path planning proble...

In this work, we present simultaneous trajectory estimation and planning (STEAP) a unified approach to solving continuous-time trajectory estimation and planning problems. Although, these problems are usually considered separately, within our framework we show how estimation and planning can benefit from each other and remove redundancy during computation. Each time-step the robot is tasked wit...