The motions of planar tracked vehicles are govemed by three force and moment equations, but driven by only two independent control variables. The force equation perpendicular to the tracks represents a d y n a m i c nonholonomic constraint which is explicitly dependent on vehicle speed. It couples path planning with trajectory planning, that is, solving for vehicle kinematic motions requires sp...

In order to create spatial plans in a complex and changing world, organisms need to rapidly adapt to novel configurations of obstacles that impede simple routes to goal acquisition. Some animals can mentally create successful multistep spatial plans in new visuo-spatial layouts that preclude direct, one-segment routes to goal acquisition. Lookahead multistep plans can, moreover, be fully develo...

Vehicle navigation in dynamic environments is an important challenge, especially when the motion of the objects populating the environment is unknown. Traditional motion planning approaches are too slow to be applied in realtime to this domain, hence, new techniques are needed. Recently, iterative planning has emerged as a promising approach. Nevertheless, existing iterative methods do not prov...

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...

this research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (tlrfm) for dynamic object manipulation (dom) missions. for the first time, achievement of dom task using a rotating one flexible link robot was taken into account in [20]. the authors do not aim to contribute on either trajectory tracking or vibration control of the end-...

William E. Singhose Georgia Institute of Technology 9.

The trajectory planning method with dynamics is the key to improving motion performance of manipulators. optimal control (OCM) a technology solve problems dynamics. There are direct and indirect methods in OCM; difficult apply engineering applications, so widely applied instead. collocation (DCM) OCM transform an problem (OCP) nonlinear (NLP), that plenty solvers can be used directly. However, ...

Support of this work by the NTUA Senator Committee of Basic Research, Programme “Protagoras”, R.C. No. 10, is acknowledged. Abstract− This paper addresses the combined problem of trajectory planning and tracking control for underactuated AUVs moving on the horizontal plane. A reference feasible trajectory for the position and orientation of the AUV is planned so that it is consistent with vehic...

Trajectory planning is the basis of robot control. A robot with seven degrees of freedom is the object of study. The shortest time is taken as the trajectory optimization target. The joint trajectory planning is carried out by using B-spline curve. Under the constraint of kinematics parameters, the time optimization of the motion trajectory is realized by using the improved genetic algorithm. T...

In this contribution two approaches for calculating optimal trajectories for highly automated vehicles are presented and compared. The first one is based on a non-linear vehicle model, used for evaluation. The second one is based on a simplified model and can be implemented on a current ECU. In usual driving situations both approaches show very similar results. Keywords—Trajectory planning, dir...