Minimum-time Smooth Path Planning For A Mobile Robot With Kinematic Constraints

Jiang, Kaiwen; Seneviratne, Lakmal; Earies, S.W.E.; Ko, Woo-Hyun

doi:10.1109/etfa.1992.683310

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Fuel and Energy Consumption Cost Indices1

Introduction1

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2010

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Cited by 4 publications

(2 citation statements)

References 11 publications

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“…The optimal path and attitude planning problem aims at accomplishing an assigned mission while optimizing cost indices such as coverage [7], time [8], robustness [9], or control effort [10]. The control effort can be quantified by the energy and the fuel consumption [1], [3] - [5], [11] - [13].…”

Section: Fuel and Energy Consumption Cost Indicesmentioning

confidence: 99%

On the fuel and energy consumption optimization problem in aircraft path planning

L’Afflitto

Sultan

2010

49th IEEE Conference on Decision and Control (CDC)

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Section: Fuel and Energy Consumption Cost Indicesmentioning

confidence: 99%

On the fuel and energy consumption optimization problem in aircraft path planning

L’Afflitto

Sultan

2010

49th IEEE Conference on Decision and Control (CDC)

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“…There are few studies which utilize other energy measures. Jiang et al [9] presented a minimum-time motion strategy for a mobile robot with kinematic constraints. Cao et al…”

Section: Introductionmentioning

confidence: 99%

On smooth and safe trajectory planning in 2D environments

Hussein

Elnagar²

Proceedings of International Conference on Robotics and Automation

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A novel approach to generating optimal smooth piecewise trajectories based o n a new energy memure i s proposed. Given the configurations (position and direction) of two points in the plane, we search for the minimal energy trajectory that minimizes the integral of the squared acceleration opposed to curvature, which has been the predominant energy measure studied in the literature. The smoothness of the optimal trajectory depends on how the tangential and normal components of acceleration vary over a n interval of time. A numerical iterative procedure is devised for computing the optimal piecewise trajectory as a solution of a constmined boundary value problem. The resulting trajectories are not only smooth but also safe wtth optimal velocity (acceleration) profiles and therefore suitable for robot motion planning applications.The feasibility of the proposed approach is illustrated by several simulation examples. Besides motion planning, the resulting trajectories may be useful in wmputer graphics and geometric design.

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On optimal constrained trajectory planning in 3D environments

Elnagar

Hussein

2000

Robotics and Autonomous Systems

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Minimum-time Smooth Path Planning For A Mobile Robot With Kinematic Constraints

Cited by 4 publications

References 11 publications

On the fuel and energy consumption optimization problem in aircraft path planning

On the fuel and energy consumption optimization problem in aircraft path planning

On smooth and safe trajectory planning in 2D environments

On optimal constrained trajectory planning in 3D environments

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