Time optimal path planning considering acceleration limits

2003 ◽  
Vol 45 (3-4) ◽  
pp. 199-210 ◽  
Author(s):  
Marko Lepetič ◽  
Gregor Klančar ◽  
Igor Škrjanc ◽  
Drago Matko ◽  
Boštjan Potočnik
Keyword(s):  
Path Planning ◽  
Optimal Path ◽  
Optimal Path Planning ◽  
Time Optimal

scholarly journals Time-optimal Path Planning of Multi-axis CNC Processes Using Variability of Orientation

Procedia CIRP ◽  
2021 ◽  
Vol 96 ◽  
pp. 324-329
Author(s):  
Frederik Wulle ◽  
Max Richter ◽  
Christoph Hinze ◽  
Alexander Verl
Keyword(s):  
Path Planning ◽  
Optimal Path ◽  
Optimal Path Planning ◽  
Time Optimal

A numerical approach for time-optimal path-planning of kinematically redundant manipulators

Robotica ◽  
1994 ◽  
Vol 12 (5) ◽  
pp. 401-410 ◽  
Author(s):  
Chia-Ju Wu
Keyword(s):  
Nonlinear Programming ◽  
Path Planning ◽  
Programming Problem ◽  
Optimal Path ◽  
Numerical Approach ◽  
Redundant Manipulators ◽  
Nonlinear Programming Problem ◽  
Optimal Path Planning ◽  
Time Optimal ◽  
Feasible Solutions

SUMMARYIn this paper, a numerical approach is proposed to solve the time-optimal path-planning (TOPP) problem of kinematically redundant manipulators between two end-points. The first step is to transform the TOPP problem into a nonlinear programming problem by an iterative procedure. Then an approach to find the initial feasible solutions of the problem is proposed. Since initial feasible solutions can be found easily, the optimization process of the nonlinear programming problem can be started from different points to find the global minimum. A planar three-link robotic manipulator is used to illustrate the validity of the proposed approach.

New Approach for Mobile Robot Path Planning

2013 ◽  
Vol 467 ◽  
pp. 475-478
Author(s):  
Feng Yun Lin
Keyword(s):  
Path Planning ◽  
Optimal Path ◽  
Dc Motor ◽  
Robot Path Planning ◽  
New Approach ◽  
Kinematic Constraints ◽  
Optimal Path Planning ◽  
Kinematic Limit ◽  
Time Optimal ◽  
Robot Path

This paper presents a method of time optimal path planning under kinematic, limit heat characteristics of DC motor and dynamic constrain for a 2-DOF wheeled. Firstly the shortest path is planned by using the geometric method under kinematic constraints. Then, in order to make full use of motors capacity we have the torque limits under limit heat characteristics of DC motor, finally the velocity limit and the boundary acceleration (deceleration) are determined to generate a time optimal path.

scholarly journals Time-optimal path planning in dynamic flows using level set equations: theory and schemes

2014 ◽  
Vol 64 (10) ◽  
pp. 1373-1397 ◽  
Author(s):  
Tapovan Lolla ◽  
Pierre F. J. Lermusiaux ◽  
Mattheus P. Ueckermann ◽  
Patrick J. Haley
Keyword(s):  
Path Planning ◽  
Level Set ◽  
Optimal Path ◽  
Optimal Path Planning ◽  
Time Optimal ◽  
Dynamic Flows

Simplified time-optimal path planning of X-Y gantry systems along circular paths

Automatica ◽  
2008 ◽  
Vol 44 (1) ◽  
pp. 149-156 ◽  
Author(s):  
Jin-Woo Hong ◽  
Yang-O Kim ◽  
In-Joong Ha
Keyword(s):  
Path Planning ◽  
Optimal Path ◽  
Optimal Path Planning ◽  
Time Optimal

Non-Collision Path Planning of a Payload in Crane Operating Space

2013 ◽  
Vol 198 ◽  
pp. 559-564 ◽  
Author(s):  
Jaroslaw Smoczek ◽  
Janusz Szpytko ◽  
Pawel Hyla
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Optimal Path ◽  
Manufacturing Processes ◽  
Automated Manufacturing ◽  
Star Graph ◽  
Graph Searching ◽  
Optimal Path Planning ◽  
Time Optimal ◽  
Operating Space

The problem of ensuring the safe and efficient cranes operations in automated manufacturing processes involves the automation of the operating workspace identification, non-collision and time-optimal path planning, and real-time following a payload along the determined path by crane motion mechanisms with expected precision. The paper describes the stereo vision based system used for identification of workspace of the laboratory scaled overhead travelling crane. The time-optimal trajectory of a payload is determined by using the A-star graph searching algorithm, and next real-time trucking by PLC-based crane control system.

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