.... Numerical solutions are obtained to support and illustrate the analysis. 04 09 2018 19 01 2020 05 03 2020 mobile robots motion planning path planning non-sliding constraints minimum radius of turn time optimal trajectory Time optimal control problems paved the way...

...Devesh K. Jha; Yue Li; Thomas A. Wettergren; Asok Ray path planning language measure probabilistic finite state automata In general, path planning of robots (e.g., AUVs) and unmanned aerial vehicles (UAVs)) aims to optimize either travel time, energy usage, or safety of operations...

... procedure for calculating first-excursion times for a class of linear continuous, time-varying systems. In several examples, we show that the algorithm is both accurate and time-efficient. These are important attributes for real-time path planning in stochastic environments, and hence the work should...

... is the computational complexity of the nonlinear programming methods solving them ( 3 ). Some motion planning algorithms have successfully used the optimization method for real-time path planning by solving a reduced order optimization problem ( 4 5 ). However, the centralized nonlinear programming solvers used...

... and, subsequently, versus time. The proposed approach is validated and the effect of the number of superfluous cables on the value of minimum time is studied. The next notable challenges include time optimal path planning of cable-suspended robots. By developing a hybrid genetic algorithm and bang-bang control...

...DongSeop Lee; Jacques Periaux; Luis Felipe Gonzalez This paper presents the application of advanced optimization techniques to unmanned aerial system mission path planning system (MPPS) using multi-objective evolutionary algorithms (MOEAs). Two types of multi-objective optimizers are compared...

... and following a straight line in the Euclidean space. A path-planning technique based on a parametrization of the camera path through polynomials is proposed, which overcomes existing methods dealing with this problem. The generated image trajectory can be tracked by using an image-based visual servoing...

... path. 03 04 2006 16 01 2007 aircraft navigation collision avoidance remotely operated vehicles path planning trajectory generation coordinated guidance Dubins sets pythagorean hodograph Unmanned air vehicles of the future will be more autonomous than the remotely...

... vehicles is enabled by letting each vehicle consider other vehicles’ actions in its path planning procedure. By using the developed strategy, physically feasible paths for the vehicles to follow are generated, where constraints on aerial vehicles, including physical maneuverabilities, are considered...

.... , and Vidyasagar , M. , 1989 , Robot Dynamics and Control , Wiley , New York. variable structure systems position control cranes hoists loading Lyapunov methods trolleys damping vibration control asymptotic stability path planning 2006 American Society of Mechanical Engineers ...

... plane. ( a ) Traction force space and ( b ) no slippage acceleration space mobile robots robot kinematics robot dynamics path planning actuators nonlinear control systems velocity acceleration mobile robot dynamic path planning kinematic and dynamic...

... 2006 manipulator kinematics manipulator dynamics path planning nonlinear dynamical systems nonlinear control systems optimal control manipulators inertia matrix dynamics matrix equations As an example, consider a mechanical system with 2 DOF. It is assumed that the system...

..., i.e., for any γ ∊ R n + 2 , γ T ∙ ( M ̃ ̇ − 2 V ̃ ) ∙ γ = 0 . 19 01 2005 05 12 2005 position control manipulator dynamics redundant manipulators mobile robots stability adaptive control path planning fuzzy neural nets...

... techniques predictive control feedback path planning Dynamically stabilized mobile systems have always fascinated mankind. Among ground vehicles, examples include the ubiquitous bicycle, motorcycle, unicycle, and inverted wheeled pendulum. A commercial version of the inverted wheeled pendulum...

... for conventional mobile robots ( 7 ). Vibration-based terrain classification was also suggested in ( 8 ). A few authors have proposed vehicles with spherical and cylindrical shape ( 1 2 3 4 5 ). To date all the research has focused on methods for control and path planning on flat and rigid surface...

... performing similar tasks. haptic interfaces robot dynamics path planning mobile robots inertia ellipse apparent inertia passive robot cobot effective mass When a human user interacts with a passive manipulandum, or more generally with a robot that is less than fully actuated...

... parallel manipulator are given to demonstrate the details of this approach. 03 12 2003 17 01 2005 path planning manipulators tracking inverse problems Parallel manipulators have experienced an increase in popularity in recent years due to their higher rate of acceleration...

... of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL . Manuscript received by the ASME Dynamic Systems and Control Division December 3, 2003. Associate Editor: M. Goldfarb. 03 December 2003 03 12 2004 path planning...

... , T. , 1979 , “ Optimal Control of the Crane System Using the Maximum Speed of the Trolley (in Japanese With English Abstract) ,” Trans. Soc. Instrument. Control Eng. (Japan) , 15 , pp. 833 – 838 . Lee, H.-H., 2002, “A Path-Planning Strategy for Overhead Cranes With High Hoisting Speed,” Proc...

... trajectories; in this case, the end-effector to joint torque model owns a non-minimum phase property, that is well-known to make inversion model a difficult problem. flexible manipulators minimisation feedforward end effectors path planning maximum principle controllers stability feedback...