trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. in this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set of time. along the path, the robot requires to observe a certain acceleration profil...

Visual odometry is vital to the future of mobile robotics. In this paper, we demonstrate a method that combines information from optic flow and stereo to estimate and control the current position of a quadrotor along a pre-defined trajectory. The absolute translation in 3D is computed by combining the optic flow measurements between successive frames and stereo-based height over ground. The cur...

This paper addresses the position tracking control problem of an underactuated hovercraft vehicle. A nonlinear Lyapunov-based tracking controller is developed and proved to exponentially stabilize the position tracking error to a neighborhood of the origin that can be made arbitrarily small. The desired trajectory does not need to be a specially chosen trajectory (e.g., a trimming trajectory). ...

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. ...

This paper presents an adaptation of an existing dynamic trajectory method for unconstrained minimization to handle constrained optimization problems. This is done by the application of a dynamic penalty parameter procedure to allow for the constraints. The method is applied to structural optimization problems that involve the determination of minimum weight structures of trusses and frames, su...

In order to better study the trajectory of robot motion, a motion trajectory planning and simulation based on 6-DOF manipulator arm robot is designed. Three and five polynomial methods are adopted to plan motion trajectories. The advantages and disadvantages of the three and five polynomial trajectory planning are summarized. The trajectory planning in the right angle space can make the robot a...

The problem of constructing a feedback control algorithm for a parabolic variational inequality is considered. This algorithm should provide tracking a prescribed trajectory by a solution of the given inequality. Two solving algorithms, which are stable with respect to informational noises, are designed. The algorithms are based on the method of extremal shift, which is known in the theory of g...

Visual servo control of robots has been recently considered and developed by many researchers. In this paper we have used a fixed camera for obtaining location and orientation of a moving object on a conveyor belt and then tracking the object. Tracking trajectory is obtained using a new event-based real-time path generation. Using the error signal obtained, which is difference between location ...

This paper handles a trajectory optimization of fixed wing aircraft perch landing assisted by thruster. The paper develops aircraft model and deals with six-degree-of-freedom motion for further understanding of dynamic phenomena of proposed landing method. The landing maneuver is described as an optimal control problem minimizing the fuel consumption with specified terminal landing conditions. ...