Time-Optimal Path Planning for a Kinematic Car with Variable Speed

Wolek, Artur; Cliff, Eugene M.; Woolsey, Craig A.

doi:10.2514/1.g001317

Cited by 22 publications

(11 citation statements)

References 19 publications

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“…So, as the optimization criterion, it is proposed to use the minimum energy consumption [15], operation time [16], finding the shortest path in a graph [17] or technical and economic indicator [18].…”

Section: Literature Review and Problem Statementmentioning

confidence: 99%

Development of the method of quasi-optimal robust control for periodic operational processes

Lutsenko

Fomovskaya

Koval

et al. 2017

EEJET

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Пошук супремуму оптимальної траєк-торії управління практично недосяжний в реальних умовах. Це пов'язано з великою кількістю ступенів свободи керованої сис-теми, коливанням попиту, вхідних і вихід-них цін, істотною нелінійністю внутріш-ньосистемних процесів. Виходом в такій ситуації може бути розробка робастних методів квазіоптимального управління. Пропонований підхід заснований на встанов-ленні взаємозв'язку управління перетворю-вальної системи з поточним рівнем виробни-чих запасів Ключові слова: оптимізація пов'язаних систем, квазіоптимальний управління, ро-бастна оптимізація, квазіоптимальна трає-кторія управління Поиск супремума оптимальной траекто-рии управления практически недостижим в реальных условиях. Это связано с большим количеством степеней свободы управляе-мой системы, колебанием спроса, входных и выходных цен, существенной нелинейно-стью внутрисистемных процессов. Выходом в такой ситуации может быть разработ-ка робастных методов квазиоптимального управления. Предлагаемый подход основан на установлении взаимосвязи управления преобразовательной системы с текущим уровнем производственных запасов Ключевые слова: оптимизация связан-ных систем, квазиоптимальное управление, робастная оптимизация, квазиоптимальная траектория управления UDC 007.5

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Section: Literature Review and Problem Statementmentioning

confidence: 99%

Development of the method of quasi-optimal robust control for periodic operational processes

Lutsenko

Fomovskaya

Koval

et al. 2017

EEJET

View full text Add to dashboard Cite

show abstract

“…Recently, a number of novel underwater gliders have been developed to obtain better performance on measuring methods except the conventional profiling floats and the legacy gliders [16]- [18]. These technologies improve the gliders by minimizing transit time [19], enhancing robustness in currents [20], or increasing the maneuverability in coastal regions [21]. Despite that UGs are robust ocean sampling platforms that are increasingly being deployed in some complex current regions [22]- [24], their endurance, which is often limited to about 3 to 6 months depending on battery design capacity, is much inferior to profiling drifting float [25].…”

Section: Introductionmentioning

confidence: 99%

Smartfloat: A Multimodal Underwater Vehicle Combining Float and Glider Capabilities

Cao

et al. 2019

IEEE Access

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This paper proposes a novel hybrid underwater vehicle, the Smartfloat, which integrates the concept of buoyancy-driven underwater gliders and conventional profiling floats. The vehicle is presented to address the challenges in ocean monitoring, such as the multidisciplinary observations of long-range transport of the mesoscale features with high spatial-temporal resolution. The vehicle combines the mechanisms of Argo profiling float and the underwater glider, with the application of a special designed attitude control system and the ingenious general arrangement. The vehicle can switch the operating mode between drifting mode and gliding mode. Such a multimodal vehicle would merge the benefits of making measurements in a very energy-efficient way when drifting with the currents in Argo mode, and operating as an underwater glider in glider mode when it is needed to cross the ocean eddies, ocean fronts, filaments, or some stirring regions. In this paper, a proof-of-concept platform including its concept of operations, the main components and subsystems design, and the correlative mathematical analysis is introduced in detail. Experiments in field trials are presented to characterize and illustrate each mode of operation and repeated mode transitions. The results demonstrate the feasibility and the good performance of the proposed vehicle.INDEX TERMS Autonomous vehicle, ocean monitoring, profiling float, multimodal underwater vehicle, underwater glider.

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“…It has been successfully used for trajectory planning of drones and car-like robots. (Lagache, Serres, andAndrieu, 2017, Wolek, Cliff andWoolsey, 2016). However for the case space vehicles and robots the use of the kinematic equations, particularly formulations based on quaternions and dual quaternions, is relatively new.…”

Section: Introductionmentioning

confidence: 99%

Optimal Manoeuver Trajectory Synthesis for Autonomous Space and Aerial Vehicles and Robots

Vepa

2019

Towards Autonomous Robotic Systems

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In this paper the problem of the synthesis of optimal manoeuver trajectories for autonomous space vehicles and robots is revisited. It is shown that it is entirely feasible to construct optimal manoeuver trajectories from considerations of only the rigid body kinematics rather than the complete dynamics of the space vehicle or robot under consideration. Such an approach lends itself to several simplifications which allow the optimal angular velocity and translational velocity profiles to be constructed, purely from considerations of the body kinematic relations. In this paper the body kinematics is formulated, in general, in terms of the quaternion representation attitude and the angular velocities are considered to be the steering inputs. The optimal inputs for a typical attitude manoeuver is synthesized by solving for the states and co-states defined by a two point boundary value problem. A typical example of a space vehicle pointing problem is considered and the optimal torque inputs for the synthesis of a reference attitude trajectory and the reference trajectories are obtained.

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Time-Optimal Path Planning for a Kinematic Car with Variable Speed

Cited by 22 publications

References 19 publications

Development of the method of quasi-optimal robust control for periodic operational processes

Development of the method of quasi-optimal robust control for periodic operational processes

Smartfloat: A Multimodal Underwater Vehicle Combining Float and Glider Capabilities

Optimal Manoeuver Trajectory Synthesis for Autonomous Space and Aerial Vehicles and Robots

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