Optimum Trajectory Planning for Multi-Rotor UAV Relays with Tilt and Antenna Orientation Variations

2021 ◽  
Author(s):  
Daniel Bonilla Licea ◽  
Giuseppe Silano ◽  
Mounir Ghogho ◽  
Martin Saska
Keyword(s):  
Trajectory Planning ◽  
Optimum Trajectory

scholarly journals An algorithm of near-optimum trajectory planning for manipulators.

1990 ◽  
Vol 56 (527) ◽  
pp. 1881-1886
Author(s):  
Motoji YAMAMOTO ◽  
Shinya MARUSHIMA ◽  
Akira MOHRI
Keyword(s):  
Trajectory Planning ◽  
Optimum Trajectory

Evolutionary Collision Free Optimal Trajectory Planning for Mobile Robots

1999 ◽  
Vol 11 (2) ◽  
pp. 153-164 ◽  
Author(s):  
M.M.A. Hashem ◽  
◽  
Keigo Watanabe ◽  
Kiyotaka Izumi ◽  
◽  
...  
Keyword(s):  
Mobile Robots ◽  
Evolutionary Algorithm ◽  
Trajectory Planning ◽  
Fitness Function ◽  
Coordinate Frame ◽  
Planning Problem ◽  
Evolutionary Trajectory ◽  
Optimum Trajectory ◽  
Insertion And Deletion ◽  
Sensor Modeling

We present an evolutionary trajectory planning method for mobile robots following a novel evolution strategy (NES) algorithm. The 2-D trajectory planning problem of a mobile robot among polygonal obstacles is formulated as a constrained time-optimum control problem considering motion. Unlike traditional evolutionary representation, special representation of individuals and crossover are used for the evolutionary search. Swapping crossover, insertion, and deletion mutations are used as background operators for maximum evolutionary algorithm flexibility. Polygonal obstacles in the world coordinate frame are modeled as circles from visibility and sensor modeling concepts. An appropriate cost (fitness) function is constructed as the only link between the evolutionary algorithm and environment. Our proposed evolution is effective for collision-free optimum trajectory planning in robot simulation within a heavily constrained (obstacle) environment.

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