This paper features the trajectory planning design of a indigenously developed 4-Axis SCARA robot which is used for doing successful robotic manipulation task in the laboratory. Once, a trajectory is being designed and given as input to the robot, the robot’s gripper tip moves along that specified trajectory. Trajectories have to be designed in the work space only. The main idea of this paper i...

An essential task of UAV autonomy is automatic path planning. There are many evolutionary planners for Unmanned Aerial Vehicles (UAVs) that have been developed UAV community. In this paper a comparative study about performance of effective trajectory planners is done. Also an efficient version of black hole methodology has been introduced for single UCAV trajectory planning, and an enhancement ...

We present two practical path planning algorithms based on Bezier curves for autonomous vehicles operating under waypoints and corridor constraints. Bezier curves have useful properties for the trajectory 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 generate t...

This paper discusses GA-based motion planning in 3D space for underwater robotic vehicles. We propose a genetic algorithm (GA) for path planning which generates a collision-free path in an environment with two kinds of obstacles: Solid and hazardous obstacles such that a path cannot intersect solid obstacles while it can intersect hazardous obstacles at the expense of extra costs. The most impo...

Autonomous parafoil terminal guidance plays a critical role in landing accuracy but is inherently difficult due to underactuation and path disturbances caused by winds. Terminal path planners must generate flight paths that deliver the parafoil as close as possible to the destinationwhile landing into thewind.This paper presents a novel pathplanning scheme capable of highly general trajectory s...

Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization formulation demonstrates the computational practicality of optimizing trajectories that comprise planned collisions. A damage quantification function is proposed, an...

This paper discusses a design methodology of cooperative path planning for dynamical multi-agent systems with spatial and temporal constraints. The cooperative behavior of the multi-agent systems is specified in terms of the objective function in an optimization formulation. The path of achieving cooperative tasks is then generated by the optimization formulation constructed based on a differen...

The paper addresses the area of path planning for nonholonomic vehicles operating in a large-scale dynamic continuous three-dimensional space where the vehicle has to avoid given obstacles and restricted areas. For vehicles, motion dynamics is defined by means of constraints on the driving manoeuvres and restrictions on smoothness of the trajectory. The paper addresses only the basic spatial pa...

In this paper, we have described a technique for terrain traversability assessment modeling of mobile robots operating in natural terrain and presented a fast near-optimum algorithm for autonomous navigational path planning of mobile robots in rough terrain environments. The proposed method is based on visual sensing of terrain salient features and analysis of geo-location coordinates of the sa...