Time-optimal Trajectory Planning by Variation of Path and Robot Location - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Time-optimal Trajectory Planning by Variation of Path and Robot Location write by Barry Boaz Groman. This book was released on 1988. Time-optimal Trajectory Planning by Variation of Path and Robot Location available in PDF, EPUB and Kindle.
Optimal Trajectory Planning for Mobile Robots
Optimal Trajectory Planning for Mobile Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Optimal Trajectory Planning for Mobile Robots write by Xiang Ma. This book was released on 2008. Optimal Trajectory Planning for Mobile Robots available in PDF, EPUB and Kindle. Abstract: Given growing emphasis on robot autonomy, the problem of planning a trajectory for these autonomous systems in a complex environment has become increasingly important. The objective of this research is to solve trajectory generation and optimization problems for mobile robot systems with both single and multiple goals. Considering the complexity of general trajectory planning problems, we concentrate mainly on two dynamic models: a holonomic system where velocity is a control variable and a nonholonomic system proposed by Dubins with constant velocity and constrained turning radius. For the simple holonomic model, we focus on computation of optimal trajectories with complex objective functions. We use a stochastic control framework to obtain characterizations of optimal trajectories as solutions of Hamilton-Jacobi-Bellman equations. Based on either upwind schemes or value iteration methods, we develop and evaluate alternative numerical methods for both isotropic (velocity-independent) and anisotropic (velocity-dependent) cost models. For the Dubins' vehicle model, we extend the results of Dubins and others to solve for minimum-time trajectories with diverse path and terminal constraints, characterizing solutions using Pontryagin's Maximum Principle. A direct application of these local shortest-path solutions is the Dubins' Traveling Salesman problem (DTSP), where the goal is to find the shortest trajectory for a Dubins' vehicle given a number of locations. We extend our analytic solutions to two-point and three-point Dubins' shortest path problems to obtain a receding horizon algorithm that outperforms alternative algorithms proposed in the literature when the visiting order is known. We also combine these algorithms with existing TSP heuristics to obtain improved algorithms when the order is not known. We also studied trajectory planning for Dubins' vehicles in the presence of moving obstacles. For stationary obstacles and holonomic vehicles, probabilistic algorithms such as rapidly-exploring random trees (RRTs) can provide guarantees of finding a path to a goal. We developed a variation of RRTs for time-varying obstacles and Dubins' dynamics. We prove probabilistic completeness for this algorithm, establishing that a path will be found if one exists. We also compared our approach with an alternative, the probabilistic roadmap algorithm, and established that our algorithm yields improvements for these problems.
Planning Algorithms
Planning Algorithms - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Planning Algorithms write by Steven M. LaValle. This book was released on 2006-05-29. Planning Algorithms available in PDF, EPUB and Kindle. Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.
Time-optimal Trajectory and Path Planning on Industrial Robots
Time-optimal Trajectory and Path Planning on Industrial Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Time-optimal Trajectory and Path Planning on Industrial Robots write by Jun Hane. This book was released on 1993. Time-optimal Trajectory and Path Planning on Industrial Robots available in PDF, EPUB and Kindle.
Trajectory Planning for Automatic Machines and Robots
Trajectory Planning for Automatic Machines and Robots - read free eBook in online reader or directly download on the web page. Select files or add your book in reader. Download and read online ebook Trajectory Planning for Automatic Machines and Robots write by Luigi Biagiotti. This book was released on 2008-10-23. Trajectory Planning for Automatic Machines and Robots available in PDF, EPUB and Kindle. This book deals with the problems related to planning motion laws and t- jectories for the actuation system of automatic machines, in particular for those based on electric drives, and robots. The problem of planning suitable trajectories is relevant not only for the proper use of these machines, in order to avoid undesired e?ects such as vibrations or even damages on the mech- ical structure, but also in some phases of their design and in the choice and sizing of the actuators. This is particularly true now that the concept of “el- tronic cams” has replaced, in the design of automatic machines, the classical approach based on “mechanical cams”. The choice of a particular trajectory has direct and relevant implications on several aspects of the design and use of an automatic machine, like the dimensioning of the actuators and of the reduction gears, the vibrations and e?orts generated on the machine and on the load, the tracking errors during the motion execution. For these reasons, in order to understand and appreciate the peculiarities of the di?erent techniques available for trajectory planning, besides the ma- ematical aspects of their implementation also a detailed analysis in the time and frequency domains, a comparison of their main properties under di?erent points of view, and general considerations related to their practical use are reported.
