Simultaneous planning of sampling and optimization: study on lazy evaluation and configuration free space approximation for optimal motion planning algorithm

2019 ◽  
Vol 44 (2) ◽  
pp. 165-181
Author(s):  
Donghyuk Kim ◽  
Sung-Eui Yoon
Keyword(s):  
Motion Planning ◽  
Free Space ◽  
Lazy Evaluation ◽  
Optimal Motion ◽  
Optimization Study ◽  
Optimal Motion Planning ◽  
Planning Algorithm

OPTIMAL MOTION PLANNING OF A PLANAR PARALLEL MANIPULATOR WITH KINEMATICALLY REDUNDANT DEGREES OF FREEDOM

2016 ◽  
Vol 40 (3) ◽  
pp. 383-397 ◽  
Author(s):  
Bahman Nouri Rahmat Abadi ◽  
Sajjad Taghvaei ◽  
Ramin Vatankhah
Keyword(s):  
Motion Planning ◽  
Feedback Linearization ◽  
Degrees Of Freedom ◽  
Jacobian Matrix ◽  
Redundant Manipulator ◽  
Optimal Motion ◽  
Planar Parallel Manipulator ◽  
Optimal Motion Planning ◽  
Planning Algorithm ◽  
Actuation Method

In this paper, an optimal motion planning algorithm and dynamic modeling of a planar kinematically redundant manipulator are considered. Kinematics of the manipulator is studied, Jacobian matrix is obtained and the dynamic equations are derived using D’Alembert’s principle. Also, a novel actuation method is introduced and applied to the 3-PRPR planar redundant manipulator. In this approach, the velocity of actuators is determined in such a way to minimize the 2-norm of the velocity vector, subjected to the derived kinematic relations as constraints. Having the optimal motion planning, the motion is controlled via a feedback linearization controller. The motion of the manipulator is simulated and the effectiveness of the proposed actuation strategy and the designed controller is investigated.

Risk-DTRRT-Based Optimal Motion Planning Algorithm for Mobile Robots

2019 ◽  
Vol 16 (3) ◽  
pp. 1271-1288 ◽  
Author(s):  
Wenzheng Chi ◽  
Chaoqun Wang ◽  
Jiankun Wang ◽  
Max Q.-H. Meng
Keyword(s):  
Motion Planning ◽  
Mobile Robots ◽  
Optimal Motion ◽  
Optimal Motion Planning ◽  
Planning Algorithm

Optimal motion planning for localization of avalanche victims by multiple UAVs

2021 ◽  
pp. 1-1
Author(s):  
Camilla Tabasso ◽  
Nicola Mimmo ◽  
Venanzio Cichella ◽  
Lorenzo Marconi
Keyword(s):  
Motion Planning ◽  
Optimal Motion ◽  
Multiple Uavs ◽  
Optimal Motion Planning

Optimal motion planning and stopping test for 3-D object reconstruction

2018 ◽  
Vol 12 (1) ◽  
pp. 103-123 ◽  
Author(s):  
Heikel Yervilla-Herrera ◽  
J. Irving Vasquez-Gomez ◽  
Rafael Murrieta-Cid ◽  
Israel Becerra ◽  
L. Enrique Sucar
Keyword(s):  
Motion Planning ◽  
Object Reconstruction ◽  
Optimal Motion ◽  
Optimal Motion Planning
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