Design and implementation of multi-axis real-time synchronous look-ahead trajectory planning algorithm

2022 ◽  
Author(s):  
Yanyang Liang ◽  
Chaozhi Yao ◽  
Wei Wu ◽  
Li Wang ◽  
Qiongyao Wang
Keyword(s):  
Real Time ◽  
Trajectory Planning ◽  
Design And Implementation ◽  
Look Ahead ◽  
Planning Algorithm

Multi-Car Convex Feasible Set Algorithm in Trajectory Planning

2020 ◽  
Author(s):  
Jing Huang ◽  
Changliu Liu
Keyword(s):  
Convex Optimization ◽  
Quadratic Programming ◽  
Real Time ◽  
Trajectory Planning ◽  
Autonomous Driving ◽  
Curse Of Dimensionality ◽  
Planning Problem ◽  
Feasible Set ◽  
Planning Algorithm ◽  
Vehicle Trajectory

Abstract Trajectory planning is an essential module for autonomous driving. To deal with multi-vehicle interactions, existing methods follow the prediction-then-plan approaches which first predict the trajectories of others then plan the trajectory for the ego vehicle given the predictions. However, since the true trajectories of others may deviate from the predictions, frequent re-planning for the ego vehicle is needed, which may cause many issues such as instability or deadlock. These issues can be overcome if all vehicles can form a consensus by solving the same multi-vehicle trajectory planning problem. Then the major challenge is how to efficiently solve the multi-vehicle trajectory planning problem in real time under the curse of dimensionality. We introduce a novel planner for multi-vehicle trajectory planning based on the convex feasible set (CFS) algorithm. The planning problem is formulated as a non-convex optimization. A novel convexification method to obtain the maximal convex feasible set is proposed, which transforms the problem into a quadratic programming. Simulations in multiple typical on-road driving situations are conducted to demonstrate the effectiveness of the proposed planning algorithm in terms of completeness and optimality.

scholarly journals A Look-Ahead Trajectory Planning Algorithm for Spray Painting Robots with Non-spherical Wrists

2018 ◽  
pp. 235-242 ◽  
Author(s):  
Giulio Trigatti ◽  
Paolo Boscariol ◽  
Lorenzo Scalera ◽  
Daniele Pillan ◽  
Alessandro Gasparetto
Keyword(s):  
Trajectory Planning ◽  
Spray Painting ◽  
Look Ahead ◽  
Planning Algorithm

scholarly journals Tool delivery robot using convolutional neural network

2020 ◽  
Vol 10 (6) ◽  
pp. 6300
Author(s):  
Javier Pinzon-Arenas ◽  
Robinson Jimenez-Moreno
Keyword(s):  
Neural Network ◽  
Convolutional Neural Network ◽  
Real Time ◽  
Trajectory Planning ◽  
Geometric Analysis ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Simulated Environment ◽  
Planning Algorithm ◽  
Position And Orientation

In the following article, it is presented a human-robot interaction system where algorithms were developed to control the movement of a manipulator in order to allow it to search and deliver, in the hand of the user, a desired tool with a certain orientation. A Convolutional Neural Network (CNN) was used to detect and recognize the user's hand, geometric analysis for the adjustment of the delivery status of the tool from any position of the robot and any orientation of the gripper, and a trajectory planning algorithm for the movement of the manipulator. It was possible to use the activations of a CNN developed in previous works for the detection of the position and orientation of the hand in the workspace and thus track it in real time, both in a simulated environment and in a real environment.

Design and Implementation of Low Bit-rate Real-time Video Encoder Based on DSP

2011 ◽  
Vol 30 (4) ◽  
pp. 945-948
Author(s):  
Shao-hua Liu ◽  
Zhi-hui Xiong ◽  
Wei-dong Bao ◽  
Mao-jun Zhang
Keyword(s):  
Real Time ◽  
Bit Rate ◽  
Video Encoder ◽  
Low Bit Rate ◽  
Design And Implementation
Sign in / Sign up

Export Citation Format

Share Document