Real-time optimal path planning and wind estimation using Gaussian process regression for precision airdrop

2017 ◽  
Author(s):  
Shiyi Yang ◽  
Nan Wei ◽  
Soo Jeon ◽  
Ricardo Bencatel ◽  
Anouck Girard
Keyword(s):  
Path Planning ◽  
Gaussian Process ◽  
Real Time ◽  
Optimal Path ◽  
Gaussian Process Regression ◽  
Wind Estimation ◽  
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.

Time-optimal path planning: Real-time sea exercises

2017 ◽  
Author(s):  
Deepak N. Subramani ◽  
Pierre F. J. Lermusiaux ◽  
Patrick J. Haley ◽  
Chris Mirabito ◽  
Sudip Jana ◽  
...  
Keyword(s):  
Path Planning ◽  
Real Time ◽  
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

scholarly journals COLREG-Compliant Optimal Path Planning for Real-Time Guidance and Control of Autonomous Ships

2021 ◽  
Vol 9 (4) ◽  
pp. 405
Author(s):  
Raphael Zaccone
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Collision Avoidance ◽  
Autonomous Navigation ◽  
Optimal Path ◽  
Open Water ◽  
Optimal Path Planning ◽  
Guidance And Control ◽  
Real Time Applications ◽  
And Control

While collisions and groundings still represent the most important source of accidents involving ships, autonomous vessels are a central topic in current research. When dealing with autonomous ships, collision avoidance and compliance with COLREG regulations are major vital points. However, most state-of-the-art literature focuses on offline path optimisation while neglecting many crucial aspects of dealing with real-time applications on vessels. In the framework of the proposed motion-planning, navigation and control architecture, this paper mainly focused on optimal path planning for marine vessels in the perspective of real-time applications. An RRT*-based optimal path-planning algorithm was proposed, and collision avoidance, compliance with COLREG regulations, path feasibility and optimality were discussed in detail. The proposed approach was then implemented and integrated with a guidance and control system. Tests on a high-fidelity simulation platform were carried out to assess the potential benefits brought to autonomous navigation. The tests featured real-time simulation, restricted and open-water navigation and dynamic scenarios with both moving and fixed obstacles.

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.

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

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.

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