Research on Trajectory Planning and Autodig of Hydraulic Excavator. Константин Карпов. Download PDF
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Oct 02, 2015 · Time-optimal trajectory planning for tractor-trailer vehicles via simultaneous dynamic optimization. Abstract: Trajectory planning is a critical aspect of autonomous tractor-trailer vehicle design. Trajectory planning algorithms usually compute paths first, trajectories are obtained thereafter. This multi-step feature makes those planners inefficacious to handle time-dependent constraints.
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Abstract: There are several obstacles to apply trajectory planning on-line to Haptic Feedback Manipulator (HFM), one of which is to quickly find a plan to optimize the cost desired, while avoiding local minima. In this paper, we proposed and tested an on-line trajectory planning method based on kinematical optimization. The particle swarm optimization (PSO)-based trajectory planner of the
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Mar 11, 2019 · A sampling based strategy for adaptive motion planning at the limits of handling, which incorporates the knowledge of vehicle model and operating constraints. For this planner, the time-varying tire-road friction limitation is handled as a time-varying …
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This article addresses the problem of determining the shortest path that connects a given initial configuration (position, heading angle, and flight path angle) to a given rectilinear or a circular
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Based on analysis and evaluation on the circular, cosine type, constant-speed offset type and ladder type lane change trajectory, this paper proposes an intelligent vehicle lane change trajectory model under multiple barriers, proposes its dynamic constraints in the light of the cellular automata theory, obtains the desired lane change trajectory using this method, and finally changes into a
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Optimal Trajectory Planning for Autonomous Driving Integrating Logical Constraints: An MIQP Perspective. 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC 2016), Nov 2016, Rio de Janeiro, Brazil. hal-01342358v2
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Home Browse by Title Proceedings 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) Trajectory Planning Based on Minimum Input Energy for the Electro-Hydraulic Cable Shovel<sup>*</sup>
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This paper describes the design of an optimal-control-based active safety framework that performs trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles in hazard avoidance scenarios. This framework allows for multiple actuation modes, diverse trajectory-planning objectives, and varying levels of autonomy.
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Optimal Trajectory Planning for Spray Coating* John I(. Antonio jantonio~ecn.purdue.edu (317) 494-6416 School of Electrical Engineering Purdue University 1285 Electrical Engineering Building West Lafayette, IN 47907-1285 September 1993 *This work was supported …
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Optimal trajectory planning of free-floating space manipulator using differential evolution algorithm. Fulltext Access 26 Pages 2018. An approach for smooth trajectory planning of high-speed pick-and-place parallel robots using quintic B-splines. Fulltext Access 12 Pages 2018.
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Sep 08, 2020 · solving optimal problems, artificial intelligent including designing the working time and torque optimal trajectory for the excavator with limitation in the actuator's force is shownin[13].Otherwise,tocreateasuitableworkingpath planning module is designed to substitute the role of the operator.
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Apr 14, 2018 · Up to12%cash back · This paper presents a novel concurrent optimal trajectory planning method for a team of quadrotors to switch between various formation patterns in the confined indoor environment. Using static shape-based, dynamic trajectory-based approaches, different formation patterns of quadrotors can be optimally and rapidly arranged and localized. The modified algorithm of …
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optimal trajectory is the core of the high-level control. There-fore, a feasible and efficient algorithm for calculating the reference trajectory is significant to the driving performance. The research on optimal trajectory planning of train op-erations began in the 1960s. A simplified train optimal
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Jul 20, 2021 · Due to the fact that intelligent algorithms such as Particle Swarm Optimization (PSO) and Differential Evolution (DE) are susceptible to local optima and the efficiency of solving an optimal solution is low when solving the optimal trajectory, this paper uses the Sequential Quadratic Programming (SQP) algorithm for the optimal trajectory planning of a hydraulic robotic excavator.
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Nov 08, 2020 · A trajectory planning approach for optimum robot performance is proposed by solving a multi-objective optimization problem to attain optimal curve parameters and distributed execution time along curve segments simultaneously.
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Focused Trajectory Planning for Autonomous On-Road Driving Tianyu Gu1, Jarrod Snider2, John M. Dolan3 and Jin-woo Lee4 Abstract—On-road motion planning for autonomous vehicles is in general a challenging problem. Past efforts have proposed solutions …
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Research on Trajectory Planning and Autodig of Hydraulic Excavator. Константин Карпов. Download PDF
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We propose a framework based on stochastic collocation to solve autonomous vehicle optimal trajectory planning problems with probabilistic uncertainty. We model uncertainty from the location and size of obstacles. We develop stochastic pseudospectral methods to solve the minimum expectation cost of differential equation, which meets path, control, and boundary constraints.
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13. C.Balamurugan, S. Ramabalan, and R. Saravanan Evolutionary collision free optimal trajectory planning for industrial robots, Proceedings of the International Conference on Total Engineering, Analysis and Manufacturing Technologies (TEAM TECH 2006), …
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