Smooth and collision-free trajectory generation in cluttered environments using cubic B-spline form

2022 ◽  
Vol 169 ◽  
pp. 104606
Author(s):  
Xingchen Li ◽  
Xifeng Gao ◽  
Wei Zhang ◽  
Lina Hao
Keyword(s):  
Trajectory Generation ◽  
Cluttered Environments ◽  
B Spline

Electronic Cam Trajectory Generation Algorithm Based on Global Optimal Control Points of Non-Uniform B-Spline

2013 ◽  
Vol 418 ◽  
pp. 219-224 ◽  
Author(s):  
Shen Hang Wang ◽  
Jian Hua Hu ◽  
Yun Kuan Wang ◽  
Zheng Jun ◽  
Xiao Fei Qin ◽  
...  
Keyword(s):  
Optimal Control ◽  
Global Optimization ◽  
Control Point ◽  
Trajectory Generation ◽  
Control Points ◽  
Kinematic Constraints ◽  
Generation Algorithm ◽  
B Spline ◽  
Global Optimal ◽  
Trajectory Generation Algorithm

In order to improve the smoothness of electronic cam motion,an electronic cam trajectory generation algorithm based on global optimal control points of quintic non-uniform B-spline is prop-osed. This algorithm solves the problem of non-global optimization in existing approaches caused by transferring kinematic constraints into control point constraints to avoid the semi-infinite constraints problem. The interval ranges of the reserved free control point variables are calculated first, followed by partitioning and checking the subinterval with the property of the objective function and kinemat-ical constraints repeatedly until finding the global optimal control point. Compared with the existing control point constraints algorithm, the object function is optimized further and the electronic cam trajectory is smoother. Finally an practical example of electronic cam proves the effectiveness of the proposed algorithm.

scholarly journals An Optimization Problem for Quadcopter Reference Flight Trajectory Generation

2018 ◽  
Vol 2018 ◽  
pp. 1-15 ◽  
Author(s):  
Karam Eliker ◽  
Guoqing Zhang ◽  
Said Grouni ◽  
Weidong Zhang
Keyword(s):  
Minimum Energy ◽  
Trajectory Generation ◽  
Optimization Method ◽  
Performance Criteria ◽  
Spline Functions ◽  
Flight Trajectory ◽  
B Spline ◽  
Aerial Vehicle ◽  
And Performance ◽  
Minimum Energy Cost

This paper deals with the reference flight trajectory generation and planning problems for quadcopter Unmanned Aerial Vehicle (UAV). The reference flight trajectory is defined as the composition of path and motion functions. Both of them are generated by using quintic B-spline functions. Based on differential flatness approach, the quadcopter dynamical constraints are satisfied instantaneously by computing the induced aerodynamical moments and lift force. The optimal reference flight trajectory, with respect to the mission requirements and imposed constraints, is reached by manipulating the control points’ vectors of B-spline functions via a nonlinear constrained optimization method. The mission requirements are defined as a set of waypoints with their respective scheduled flight timetable. A minimum-energy cost function is developed to minimize the consumed energy and induced efforts by reference flight trajectory. For the need of the optimal overfly-times schedule, the overfly times with respect to the defined constraints and performance criteria are calculated. Numerical simulation results show the feasibility and effectiveness of the proposed optimization method.

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