Overview of trajectory planning methods for robot systems

2021 ◽  
Author(s):  
Zhenzhen Huang ◽  
Hong Wu
Keyword(s):  
Trajectory Planning ◽  
Robot Systems ◽  
Planning Methods

Improved Trajectory Planning using Arbitrary Power Polynomials

1994 ◽  
Vol 208 (1) ◽  
pp. 3-13 ◽  
Author(s):  
A Kirecci ◽  
M J Gilmartin
Keyword(s):  
Trajectory Planning ◽  
Interpolation Method ◽  
Attractive Alternative ◽  
Mathematical Functions ◽  
General Application ◽  
Arbitrary Power ◽  
Recent Developments ◽  
Planning Methods ◽  
Machine Systems ◽  
Conventional Systems

Increasing demands for higher operational speeds, the need for flexible machinery and recent developments in microchip technology have made programmable machine systems an attractive alternative to conventional systems. However, some difficulties still remain for proper control of programmable systems, especially at higher speeds. These can be categorized into two groups: trajectory planning and trajectory tracking. Conventional trajectory planning methods are ineffective for general application, especially when velocity and acceleration conditions are included. There are many mathematical functions but polynomials are shown to be the most versatile for trajectory planning; however, these can give curves with unexpected oscillations, commonly called meandering. Tracking of a motion in this situation could engender severe practical problems. In this study, a new interpolation method using polynomials with arbitrary powers is proposed to overcome this disadvantage.

scholarly journals 3D Trajectory Planning Method for UAVs Swarm in Building Emergencies

Sensors ◽  
2020 ◽  
Vol 20 (3) ◽  
pp. 642 ◽  
Author(s):  
Ángel Madridano ◽  
Abdulla Al-Kaff ◽  
David Martín ◽  
and Arturo de la de la Escalera
Keyword(s):  
Emergency Response ◽  
Trajectory Planning ◽  
Essential Elements ◽  
Urban Environments ◽  
Robot Operating System ◽  
Probabilistic Roadmaps ◽  
Scalable Systems ◽  
Robot Systems ◽  
Response Team ◽  
And Control

The development in Multi-Robot Systems (MRS) has become one of the most exploited fields of research in robotics in recent years. This is due to the robustness and versatility they present to effectively undertake a set of tasks autonomously. One of the essential elements for several vehicles, in this case, Unmanned Aerial Vehicles (UAVs), to perform tasks autonomously and cooperatively is trajectory planning, which is necessary to guarantee the safe and collision-free movement of the different vehicles. This document includes the planning of multiple trajectories for a swarm of UAVs based on 3D Probabilistic Roadmaps (PRM). This swarm is capable of reaching different locations of interest in different cases (labeled and unlabeled), supporting of an Emergency Response Team (ERT) in emergencies in urban environments. In addition, an architecture based on Robot Operating System (ROS) is presented to allow the simulation and integration of the methods developed in a UAV swarm. This architecture allows the communications with the MavLink protocol and control via the Pixhawk autopilot, for a quick and easy implementation in real UAVs. The proposed method was validated by experiments simulating building emergences. Finally, the obtained results show that methods based on probability roadmaps create effective solutions in terms of calculation time in the case of scalable systems in different situations along with their integration into a versatile framework such as ROS.

scholarly journals Multi-Robot Trajectory Planning and Position/Force Coordination Control in Complex Welding Tasks

2019 ◽  
Vol 9 (5) ◽  
pp. 924 ◽  
Author(s):  
Yahui Gan ◽  
Jinjun Duan ◽  
Ming Chen ◽  
Xianzhong Dai
Keyword(s):  
Trajectory Planning ◽  
Cooperative Control ◽  
Impedance Control ◽  
Welding Process ◽  
Coordination Control ◽  
Control Approach ◽  
Force Coordination ◽  
Force Tracking ◽  
Robot Systems ◽  
Multi Robot

In this paper, the trajectory planning and position/force coordination control of multi-robot systems during the welding process are discussed. Trajectory planning is the basis of the position/ force cooperative control, an object-oriented hierarchical planning control strategy is adopted firstly, which has the ability to solve the problem of complex coordinate transformation, welding process requirement and constraints, etc. Furthermore, a new symmetrical internal and external adaptive variable impedance control is proposed for position/force tracking of multi-robot cooperative manipulators. Based on this control approach, the multi-robot cooperative manipulator is able to track a dynamic desired force and compensate for the unknown trajectory deviations, which result from external disturbances and calibration errors. In the end, the developed control scheme is experimentally tested on a multi-robot setup which is composed of three ESTUN industrial manipulators by welding a pipe-contact-pipe object. The simulations and experimental results are strongly proved that the proposed approach can finish the welding task smoothly and achieve a good position/force tracking performance.

scholarly journals A Multi-Sensor Based Roadheader Positioning Model and Arbitrary Tunnel Cross Section Automatic Cutting

Sensors ◽  
2019 ◽  
Vol 19 (22) ◽  
pp. 4955
Author(s):  
Changqing Yan ◽  
Wenxiao Zhao ◽  
Xinming Lu
Keyword(s):  
Real Time ◽  
Cross Section ◽  
Trajectory Planning ◽  
Hydraulic Cylinder ◽  
High Accuracy ◽  
Position Measurement ◽  
Coordinate Measurement ◽  
Positioning Method ◽  
Planning Methods ◽  
Tunnel Cross Section

Autonomous posture detection and self-localization of roadheaders is the key to automatic tunneling and roadheader robotization. In this paper, a multi-sensor based positioning method, involving an inertial system for altitude angles measurement, total station for coordinate measurement, and sensors for measuring the real-time length of the hydraulic cylinder is presented for roadheader position measurement and posture detection. Based on this method, a positioning model for roadheader and cutter positioning is developed. Additionally, flexible trajectory planning methods are provided for automatic cutting. Based on the positioning model and the trajectory planning methods, an automatic cutting procedure is proposed and applied in practical tunneling. The experimental results verify the high accuracy and efficiency of both the positioning method and the model. Furthermore, it is indicated that arbitrary shapes can be generated automatically and precisely according to the planned trajectory, employing the automatic cutting procedure. Therefore, unmanned tunneling can be realized by employing the proposed automatic cutting process.

scholarly journals Numerical Aspects and Performances of Trajectory Planning Methods of Flexible Axes

2006 ◽  
Vol 1 (4) ◽  
pp. 35 ◽  
Author(s):  
Jean-Yves Dieulot ◽  
Issam Thimoumi ◽  
Frédéric Colas ◽  
Richard Béarée
Keyword(s):  
Optimal Control ◽  
Path Planning ◽  
Natural Frequency ◽  
Trajectory Planning ◽  
Input Shaping ◽  
Robot Arm ◽  
Frequency Mismatch ◽  
Planning Methods ◽  
Real Robot ◽  
Theoretical Results

Adequate Path Planning design is an important stage for controlling flexible axes because it may allow to cancel vibrations induced by oscillating modes. Among bang-bang profiles which are linked to optimal control, jerk assignment (acceleration derivative) and input shapers have been investigated. Theoretical results show the performance and robustness with respect to natural frequency mismatch. Practical validations on a real robot arm show the relevance of the jerk algorithm which is more robust with the same productivity performances as input shaping techniques.

Online collision avoidance trajectory planning for spacecraft proximity operations with uncertain obstacle

2021 ◽  
pp. 095441002110561
Author(s):  
Run-de Zhang ◽  
Wei-wei Cai ◽  
Le-ping Yang ◽  
Cheng Si
Keyword(s):  
Collision Avoidance ◽  
Predictive Control ◽  
Trajectory Planning ◽  
Three Dimensional ◽  
Performance Criteria ◽  
Proximity Operations ◽  
Online Planning ◽  
Planning Framework ◽  
Planning Methods ◽  
Avoidance Problem

The spacecraft relative motion trajectory planning is one of the enabling techniques for autonomous proximity operations, especially in the increasingly complicated mission environments. Most traditional trajectory planning methods focus on improving the performance criteria in the deterministic conditions, whereas various uncertain elements in practice would significantly degrade the trajectory performance. Considering the uncertainties underlying the collision avoidance constraints, this paper suggests a model predictive control based online trajectory planning framework in which the obstacle information in higher-precision would be consistently updated by the onboard sensor. To improve the computational efficiency of the online planning framework, the rotating hyperplane (RH) technique is utilized to transform the nonlinear ellipsoidal keep-out zone constraints into convex formulations. And the concept of rotation window is introduced to eliminate the unexpected mismatch between the spacecraft motion and hyperplane rotation in the conventional RH method, which in sequence improves the RH method’s capability for multiple obstacle avoidance problem. Moreover, a three-dimensional (3-D) extension strategy is proposed to simplify the computation procedure when applying the RH method for a 3-D collision avoidance problem. Numerical simulations are carried out to validate the performance of the proposed online trajectory planning framework in addressing the uncertain collision avoidance constraints.

Minimum cost, fixed time trajectory planning in robot manipulators. A suboptimal solution

Robotica ◽  
1997 ◽  
Vol 15 (5) ◽  
pp. 555-562 ◽  
Author(s):  
Ignacy Duleba
Keyword(s):  
Trajectory Planning ◽  
Robot Manipulators ◽  
Minimum Cost ◽  
Fixed Time ◽  
Free Time ◽  
Planning Problem ◽  
Optimal Cost ◽  
Robot Systems ◽  
Time Optimal ◽  
Suboptimal Solution

In this paper the minimum cost trajectory planning problem with fixed time in robot manipulators is considered. The task is solved by transforming the problem to a set of free right-end time optimal problems, leading to a suboptimal solution. Each problem of the optimal cost trajectory planning with a free time is effectively solved by the method of minimal neighbourhood. An algorithm for the task of suboptimal cost trajectory planning with fixed time is presented and applied to the model of a PUMA-like robot. Results of the paper seem to be of particular relevance to the optimization of multi-robot systems.

Sign in / Sign up

Export Citation Format

Share Document