Minimum-time trajectory planning under dynamic constraints for a wheeled mobile robot with a trailer

Minimum-time and minimum-energy trajectory planning under dynamic constraints for a quadrotor

“…The adopted approach, for the solution of the trajectory planning problem, can be considered as an adaptation of the random profile approach called RPA to the case of quadrotors. This approach, which has been the subject of several works, has been chosen for the following performances: versatility (used for solving the trajectory planning problem of several systems: manipulator arm, 30 mobile robot, 31 mobile manipulator, 32 underactuated systems, 33 mobile robot with trailer, 34 …), ease of implementation and efficiency (this approach gives good quality solutions in reasonable computation times). Before presenting this adaptation, we first present the working principle of the RPA approach as presented in.…”

“…Before presenting this adaptation, we first present the working principle of the RPA approach as presented in. 34 Furthermore, it allows for the consideration of different types of constraints, including geometric constraints (boundary conditions on position and orientation, configuration parameter limits, obstacle avoidance), kinematic constraints (velocity and acceleration limits of actuators), and dynamic constraints (actuator torque limits, underactuation constraints of the system, dynamic stability in the case of mobile robots, etc. ).…”

Type synthesis and trajectory planning of 5-DOF redundantly actuated parallel robots with large output rotational angles for large workpieces

“…In the movement process of the RAPM, the mechanism vibration impact should be avoided. Many scholars adopted piecewise function polynomial method, cubic and quintic spline curves, and B-spline interpolation curve, and proposed their own trajectory planning methods [27][28][29][30][31][32][33][34][35]. Such as higher-degree polynomial method can make velocity and acceleration of the robot too big.…”

“…Besides, the synthesized 5-DOF RAPMs processing the box insulation layer of large workpieces should avoid the mechanism vibration impact, some scholars adopt different trajectory methods to plan the movement of the mechanism. Many scholars adopted piecewise function polynomial method, cubic and quintic spline curves, and B-spline interpolation curve, and proposed their own trajectory planning methods [24][25][26][27][28][29][30][31][32]. For example, Javad Jahanpour [24] adopted NURBS curves to plan path and obtained a smooth trajectory.…”

“…Tian [27] used polynomial method and can evaluate the trajectory to an optimal one quickly. The other scholars [28][29][30][31][32] designed the modified sine and modified trapezoidal curve to plan goal trajectory. The robot has favorable characteristics in speed, compliance, and continuity.…”