The point to point trajectory planning based on the ant lion optimiser

This paper proposes a trajectory planning and control strategy to optimally visit a given set of waypoints in the presence of wind. First, aerodynamic properties of quadrotors which affect trajectory planning and tracking performance are investigated. Blade flapping, induced and parasitic drag are derived and an extended method to identify all coefficients from flight test data is developed. Then, a three-step approach is suggested to optimize the trajectory. These steps reduce the size of the optimization problem and thereby increase computational efficiency while still guaranteeing near optimal results. The trajectories are optimized for minimal aerodynamic drag and minimal jerk. The derived smooth trajectory generation is compared with traditional trajectory planning consisting of discrete point to point tracking followed by low-pass filtering. The new trajectories yield a clear reduction in maximal needed thrust and in Euler angle aggressiveness. A thrust vectoring controller is designed, which exploits the a priori trajectory information and identified aerodynamic properties. Its performance is compared to a standard PID controller and results show a reduction in tracking delay and an increase in thrust and attitude angle margins, which overall enable faster flight.

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Stiffness-based trajectory planning of a 6-DOF cable-driven parallel manipulator

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406216659893 ◽

2016 ◽

Vol 231 (21) ◽

pp. 3999-4011 ◽

Cited By ~ 6

Author(s):

Wenjia Zhang ◽

Weiwei Shang ◽

Bin Zhang ◽

Fei Zhang ◽

Shuang Cong

Keyword(s):

Velocity Profile ◽

Trajectory Planning ◽

Parallel Manipulator ◽

Kinematic Model ◽

Degree Of Freedom ◽

Performance Indices ◽

Curved Trajectories ◽

Quintic Polynomial ◽

Point To Point ◽

Six Degree Of Freedom

The stiffness of the cable-driven parallel manipulator is usually poor because of the cable flexibility, and the existing methods on trajectory planning mainly take the minimum time and the optimal energy into account, not the stiffness. To solve it, the effects of different trajectories on stiffness are studied for a six degree-of-freedom cable-driven parallel manipulator, according to the kinematic model and the dynamic model. The condition number and the minimum eigenvalue of the dimensionally homogeneous stiffness matrix are selected as performance indices to analyze the stiffness changes during the motion. The simulation experiments are implemented on a six degree-of-freedom cable-driven parallel manipulator, to study the stiffness of three different trajectory planning approaches such as S-type velocity profile, quintic polynomial, and trigonometric function. The accelerations of different methods are analyzed, and the stiffness performances for the methods are compared after planning the point-to-point straight and the curved trajectories. The simulation results indicate that the quintic polynomial and S-type velocity profile have the optimal performance to keep the stiffness stable during the motion control and the travel time of the quintic polynomial can be optimized sufficiently while keeping stable.

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Trajectory planning of mobile robots using indirect solution of optimal control method in generalized point-to-point task

Frontiers of Mechanical Engineering ◽

10.1007/s11465-012-0304-9 ◽

2012 ◽

Vol 7 (1) ◽

pp. 23-28 ◽

Cited By ~ 5

Author(s):

M. Nazemizadeh ◽

H. N. Rahimi ◽

K. Amini Khoiy

Keyword(s):

Optimal Control ◽

Mobile Robots ◽

Trajectory Planning ◽

Control Method ◽

Optimal Control Method ◽

Point To Point

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Dynamic Point-To-Point Trajectory Planning for Three Degrees-of-Freedom Cable-Suspended Parallel Robots Using Rapidly Exploring Random Tree Search

Journal of Mechanisms and Robotics ◽

10.1115/1.4045848 ◽

2020 ◽

Vol 12 (4) ◽

Cited By ~ 1

Author(s):

Sheng Xiang ◽

Haibo Gao ◽

Zhen Liu ◽

Clément Gosselin

Keyword(s):

Trajectory Planning ◽

Degrees Of Freedom ◽

Parallel Robots ◽

Tree Search ◽

Planning Techniques ◽

Motion Primitive ◽

Planning Technique ◽

Point To Point ◽

Three Degrees Of Freedom ◽

Specific Distance

Abstract This paper proposes a dynamic point-to-point trajectory planning technique for three degrees-of-freedom (DOFs) cable-suspended parallel robots. The proposed technique is capable of generating feasible multiple-swing trajectories that reach points beyond the footprint of the robot. Tree search algorithms are used to automatically determine a sequence of intermediate points to enhance the versatility of the planning technique. To increase the efficiency of the tree search, a one-swing motion primitive and a steering motion primitive are designed based on the dynamic model of the robot. Closed-form expressions for the motion primitives are given, and a corresponding rapid feasibility check process is proposed. An energy-based metric is used to estimate the distance in the Cartesian space between two points of a dynamic point-to-point task, and this system’s specific distance metric speeds up the coverage. The proposed technique is evaluated using a series of Monte Carlo runs, and comparative statistics results are given. Several example trajectories are presented to illustrate the approach. The results are compared with those obtained with the existing state-of-the-art methods, and the proposed technique is shown to be more general compared to previous analytical planning techniques while generating smoother trajectories than traditional rapidly exploring randomized tree (RRT) methods.

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