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Optimal trajectory generation for dynamic street scenarios in a Frenét Frame
2010 Edition, May 1, 2010 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Safe handling of dynamic highway and inner city scenarios with autonomous vehicles involves the problem of generating traffic-adapted trajectories. In order to account for the practical requirements of the holistic autonomous system, we propose a...

Optimal trajectory generation under homology class constraints
2012 Edition, December 1, 2012 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

There are many applications where topology constraints are useful in trajectory generation for mobile robots. In this paper we present a method to generate an optimal trajectory restricted to a particular homology class. The...

Chained formulation of 3D path following for nonholonomic autonomous robots in a Serret-Frenet frame
2016 Edition, July 1, 2016 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

The problem of 3D path following of nonholonomic systems in closed-loop is addressed. The kinematic model in a local coordinate system using a Serret-Frenet frame with sideslip and attack angles is used to express the motion of the robot. A new...

On the optimal trajectory generation for servomotors: A Hamiltonian approach
2012 Edition, December 1, 2012 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

This note considers the energy optimal trajectory generation of servo systems through open-loop optimal control design approach. Solving the exact optimal solution is challenging because of the nonlinear and switching cost function, and various constraints. The...

Optimal trajectory generation in ocean flows
2005 Edition, January 1, 2005 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

In this paper it is shown that Lagrangian Coherent Structures (LCS) are useful in determining near optimal trajectories for autonomous underwater gliders in a dynamic ocean environment. This opens the opportunity for optimal path...

Optimal trajectory generation for redundant planar manipulators
2000 Edition, Volume 5, January 1, 2000 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Given the desired end effector poses (position and orientation) at the start and end points in a pick and place operation, motion planning for a redundant manipulator in a structured environment involves the generation of a smooth motion...

Optimal trajectory generation for bipedal robots
2007 Edition, November 1, 2007 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

This paper proposes a new method of trajectory planning for biped robots walking on level ground. In this approach, the hip and foot trajectories are designed in Cartesian space using polynomial interpolation. The key parameters which define the...

Optimal trajectory generation for linear systems
1995 Edition, Volume 5, January 1, 1995 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Many design algorithms have been derived to help ensure that a closed-loop system closely tracks desired trajectories. In contrast, few algorithms have concentrated on conditioning the desired trajectories so they can be easily tracked. This study uses concepts from...

Optimal trajectory generation for nonholonomic robots in dynamic environments
2008 Edition, May 1, 2008 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

We study optimal trajectory generation for nonholonomic mobile robots in the presence of moving obstacles. The trajectory is presented by a parameterized higher-order polynomial and is feasible for car-like robots whose motion is nonholonomic....

Optimal Trajectory Generation for Quadrotor Teach-and-Repeat
Volume PP - IEEE - Institute of Electrical and Electronics Engineers, Inc.

In this paper, we propose a novel motion planning framework for quadrotor teach-and-repeat applications. Instead of controlling the drone to precisely follow the teaching path, our method converts an arbitrary jerky human-piloted trajectory to a topologically...

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