scholarly journals Jerk-limited Real-time Trajectory Generation with Arbitrary Target States

2021 ◽  
Author(s):  
Lars Berscheid ◽  
Torsten Kroeger
Keyword(s):  
Real Time ◽  
Trajectory Generation ◽  
Target States

scholarly journals Real-time Trajectory Generation for Multiple Drones using Bézier Curves

2020 ◽  
Vol 53 (2) ◽  
pp. 9276-9281
Author(s):  
Bahareh Sabetghadam ◽  
Rita Cunha ◽  
António Pascoal
Keyword(s):  
Real Time ◽  
Trajectory Generation ◽  
Bezier Curves ◽  
Bézier Curves

scholarly journals Optimal Motion Trajectory Generation and Real-Time Trajectory Modification for an Industrial Robot Working in a Rectangular Space

2013 ◽  
Vol 7 (3) ◽  
pp. 278-292 ◽  
Author(s):  
Naoki UCHIYAMA ◽  
Kazunori MORI ◽  
Kazuhiko TERASHIMA ◽  
Toru SAEKI ◽  
Toshio KAMIGAKI ◽  
...  
Keyword(s):  
Real Time ◽  
Industrial Robot ◽  
Trajectory Generation ◽  
Motion Trajectory ◽  
Optimal Motion

Real-Time Trajectory Generation and Reachability Determination in Autorotative Flare

2020 ◽  
Vol 65 (3) ◽  
pp. 1-17
Author(s):  
Brian F. Eberle ◽  
Jonathan D. Rogers
Keyword(s):  
Real Time ◽  
Trajectory Generation ◽  
Contact Theory ◽  
Simulation Environment ◽  
Order Model ◽  
Landing Point ◽  
Overall Performance ◽  
Simulation Results ◽  
Six Degree Of Freedom ◽  
Trajectory Generator

Autorotation maneuvers inherently offer little margin for error in execution and induce high pilot workload, particularly as the aircraft nears the ground in an autorotative flare. Control augmentation systems may potentially reduce pilot workload while simultaneously improving the likelihood of a successful landing by offering the pilot appropriate cues. This paper presents an initial investigation of a real-time trajectory generation scheme for autorotative flare based on time-to-contact theory. The algorithm exhibits deterministic runtime performance and provides a speed trajectory that can be tracked by a pilot or inner-loop controller to bring the vehicle to a desired landing point at the time of touchdown. A low-order model of the helicopter dynamics in autorotation is used to evaluate dynamic feasibility of the generated trajectories. By generating and evaluating trajectories to an array of candidate landing points, the set of reachable landing points in front of the aircraft is determined. Simulation results are presented in which the trajectory generator is coupled with a previously derived autorotation controller. Example cases and trade studies are conducted in a six degree-of-freedom simulation environment to demonstrate overall performance as well as robustness of the algorithm to variations in target landing point, helicopter gross weight, and winds. The robustness of the reachability determination portion of the algorithm is likewise evaluated through trade studies examining off-nominal flare entry conditions and the effects of winds.

Adaptive trajectory generation based on real-time estimated parameters for impaired aircraft landing

2019 ◽  
Vol 50 (15) ◽  
pp. 2733-2751 ◽  
Author(s):  
Haichao Hong ◽  
Arnab Maity ◽  
Florian Holzapfel ◽  
Shengjing Tang
Keyword(s):  
Real Time ◽  
Trajectory Generation ◽  
Aircraft Landing ◽  
Estimated Parameters

scholarly journals Real-Time Flight Trajectory Generation Applicable to Emergency Landing Approach

2009 ◽  
Vol 52 (175) ◽  
pp. 21-28 ◽  
Author(s):  
Masahiro MIWA ◽  
Takeshi TSUCHIYA ◽  
Satoshi YONEZAWA ◽  
Nobuhiro YOKOYAMA ◽  
Shinji SUZUKI
Keyword(s):  
Real Time ◽  
Trajectory Generation ◽  
Flight Trajectory

Real-time Control of Whole-body Robot Motion and Trajectory Generation for Physiotherapeutic Juggling in VR

2018 ◽  
Author(s):  
Pouya Mohammadi ◽  
Milad Malekzadeh ◽  
Jindrich Kodl ◽  
Albert Mukovskiy ◽  
Dennis L. Wigand ◽  
...  
Keyword(s):  
Real Time ◽  
Trajectory Generation ◽  
Whole Body ◽  
Robot Motion ◽  
Real Time Control ◽  
Time Control

Real-Time Trajectory Generation for Mobile Robots

2007 ◽  
pp. 459-470 ◽  
Author(s):  
Alireza Sahraei ◽  
Mohammad Taghi Manzuri ◽  
Mohammad Reza Razvan ◽  
Masoud Tajfard ◽  
Saman Khoshbakht
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Trajectory Generation
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