Time-optimal velocity planning by a bound-tightening technique

2018 ◽  
Vol 70 (1) ◽  
pp. 61-90 ◽  
Author(s):  
Federico Cabassi ◽  
Luca Consolini ◽  
Marco Locatelli
Keyword(s):  
Optimal Velocity ◽  
Velocity Planning ◽  
Bound Tightening ◽  
Time Optimal

scholarly journals Toward a Comfortable Driving Experience for a Self-Driving Shuttle Bus

Electronics ◽  
2019 ◽  
Vol 8 (9) ◽  
pp. 943 ◽  
Author(s):  
Il Bae ◽  
Jaeyoung Moon ◽  
Jeongseok Seo
Keyword(s):  
Real Time ◽  
High Performance ◽  
Autonomous Driving ◽  
Planning Method ◽  
Dynamics Simulation ◽  
Driving Experience ◽  
Optimal Velocity ◽  
Planning Approach ◽  
Velocity Planning ◽  
Time Optimal

The convergence of mechanical, electrical, and advanced ICT technologies, driven by artificial intelligence and 5G vehicle-to-everything (5G-V2X) connectivity, will help to develop high-performance autonomous driving vehicles and services that are usable and convenient for self-driving passengers. Despite widespread research on self-driving, user acceptance remains an essential part of successful market penetration; this forms the motivation behind studies on human factors associated with autonomous shuttle services. We address this by providing a comfortable driving experience while not compromising safety. We focus on the accelerations and jerks of vehicles to reduce the risk of motion sickness and to improve the driving experience for passengers. Furthermore, this study proposes a time-optimal velocity planning method for guaranteeing comfort criteria when an explicit reference path is given. The overall controller and planning method were verified using real-time, software-in-the-loop (SIL) environments for a real-time vehicle dynamics simulation; the performance was then compared with a typical planning approach. The proposed optimized planning shows a relatively better performance and enables a comfortable passenger experience in a self-driving shuttle bus according to the recommended criteria.

Optimal Control of a Multirotor Unmanned Aerial Vehicle Based on a Multiphysical Model

2020 ◽  
Author(s):  
Nicolas Michel ◽  
Zhaodan Kong ◽  
Xinfan Lin
Keyword(s):  
Optimal Control ◽  
Unmanned Aerial Vehicle ◽  
Operation Time ◽  
Rigid Body Dynamics ◽  
System Level ◽  
Optimal Velocity ◽  
Rotor Aerodynamics ◽  
Time Optimal ◽  
Aerial Vehicle ◽  
Level Model

Abstract Electric multirotor aircraft with vertical-take-off-and-landing capabilities are emerging as a revolutionary transportation mode. This paper studies optimal control of a multirotor unmanned aerial vehicle based on a system-level multiphysical model. The model considers aerodynamics of the rotor-propeller assembly, electro-mechanical dynamics of the motor and motor controller, and rigid-body dynamics of the vehicle, as control based on a system-level model incorporating all these dynamics and their coupling is missing in literature. A forward flight operation is considered for time-optimal and energy-optimal control, as well as battery voltages of 25 V and 21 V. Energy-optimal control is shown to reduce the energy required for the operation by 38.5% at 25 V, while reducing the battery voltage increases the minimum operation time by 19.8%. The energy-optimal cruise velocity is also examined, demonstrating that the optimal velocity predicted without considering rotor aerodynamics uses 35.2% more energy per meter travelled than is required at the true optimal velocity.

Model-Based Reinforcement Learning for Time-Optimal Velocity Control

2020 ◽  
Vol 5 (4) ◽  
pp. 6185-6192
Author(s):  
Gabriel Hartmann ◽  
Zvi Shiller ◽  
Amos Azaria
Keyword(s):  
Reinforcement Learning ◽  
Velocity Control ◽  
Optimal Velocity ◽  
Model Based ◽  
Time Optimal

scholarly journals Look-Ahead Traffic-Based Optimal Velocity Planning for Parallel HEVs

2019 ◽  
Vol 52 (5) ◽  
pp. 580-585 ◽  
Author(s):  
Fuguo Xu ◽  
Tielong Shen
Keyword(s):  
Optimal Velocity ◽  
Look Ahead ◽  
Velocity Planning

scholarly journals Dual-optimization trajectory planning based on parametric curves for a robot manipulator

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142092004
Author(s):  
Yong-Lin Kuo ◽  
Chun-Chen Lin ◽  
Zheng-Ting Lin
Keyword(s):  
Path Planning ◽  
Trajectory Planning ◽  
Robot Manipulator ◽  
Optimal Path ◽  
Inequality Constraints ◽  
Parametric Curves ◽  
Optimal Velocity ◽  
Time Optimal ◽  
Planning Algorithm ◽  
Motion Profile

This article presents a dual-optimization trajectory planning algorithm, which consists of the optimal path planning and the optimal motion profile planning for robot manipulators, where the path planning is based on parametric curves. In path planning, a virtual-knot interpolation is proposed for the paths required to pass through all control points, so the common curves, such as Bézier curves and B-splines, can be incorporated into it. Besides, an optimal B-spline is proposed to generate a smoother and shorter path, and this scheme is especially suitable for closed paths. In motion profile planning, a generalized formulation of time-optimal velocity profiles is proposed, which can be implemented to any types of motion profiles with equality and inequality constraints. Also, a multisegment cubic velocity profile is proposed by solving a multiobjective optimization problem. Furthermore, a case study of a dispensing robot is investigated through the proposed dual-optimization algorithm applied to numerical simulations and experimental work.

The Time-Optimal Control of the 4RRR Parallel Manipulator with Input Backlash

2014 ◽  
Vol 687-691 ◽  
pp. 616-622
Author(s):  
Liang Liang Zhang ◽  
Yao Jiang ◽  
Tie Min Li
Keyword(s):  
Optimal Control ◽  
Parameter Optimization ◽  
Parallel Manipulator ◽  
High Speed ◽  
Adaptive Method ◽  
Time Optimal Control ◽  
Redundant Actuation ◽  
Actuation Redundancy ◽  
Velocity Planning ◽  
Time Optimal

A time-optimal control of a 4RRR parallel manipulator with actuation redundancy is reported. A method using both redundant actuation and velocity planning is carried out to achieve the shortest moving time of the platform travelling through an assigned path without reducing precision caused by the backlashes in the actuators. The problem is simplified and an adaptive method of time-optimal control is designed based on the characteristics such as pre-coupling of time segments and decoupling of the redundant torques and time segments of this problem. The result demonstrates that this method can solve this problem with high speed. It serves as an example of both time-optimal control in robotics and multi-parameter optimization.

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