Quadrotor Convergence Trajectory Optimization Model Based on Minimum Energy Consumption

2018 ◽  
Vol 10 (3) ◽  
pp. 673-689
Author(s):  
Biao Zhang
Keyword(s):  
Energy Consumption ◽  
Optimization Model ◽  
Trajectory Optimization ◽  
Minimum Energy ◽  
Model Based ◽  
Minimum Energy Consumption

scholarly journals Bucket Trajectory Optimization under the Automatic Scooping of LHD

Energies ◽  
2019 ◽  
Vol 12 (20) ◽  
pp. 3919
Author(s):  
Yu Meng ◽  
Huazhen Fang ◽  
Guodong Liang ◽  
Qing Gu ◽  
Li Liu
Keyword(s):  
Energy Consumption ◽  
Trajectory Optimization ◽  
Reaction Force ◽  
Minimum Energy ◽  
Earth Pressure ◽  
Force Model ◽  
Minimum Energy Consumption ◽  
One Step ◽  
The One ◽  
Step Step

We propose an optimal planning scheme of the bucket trajectory in the LHD (Load-Haul-Dump) automatic shoveling system to improve the effectiveness of the scooping operation. The research involves simulation of four typical shoveling methods, optimization of the scooping trajectory, establishment of a reaction force model in the scooping process and determination of optimal trajectory. Firstly, we compared the one-step, step-by-step, excavation and coordinated shoveling method by the Engineering Discrete Element Method (EDEM) simulation. The coordinated shoveling method becomes the best choice on account of its best comprehensive performance among the four methods. Based on the coordinated shoveling method, the shape of the optimized trajectory can be roughly determined. Then, we established a model of bucket force during the shoveling process by applying Coulomb’s passive earth pressure theory for the purpose of calculating energy consumption. The trajectory is finally determined through optimizing the minimum energy consumption in theory. The theoretical value is verified by the EDEM simulation.

scholarly journals Optimization of Energy-Efficient Speed Profile for Electrified Vehicles

2018 ◽  
Author(s):  
Hadi Abbas ◽  
Youngki Kim ◽  
Jason B. Siegel ◽  
Denise M. Rizzo
Keyword(s):  
Energy Consumption ◽  
Energy Efficient ◽  
Minimum Energy ◽  
Efficient Operation ◽  
Operating Modes ◽  
Minimum Energy Consumption ◽  
System A ◽  
Trip Time ◽  
Route Information

This paper presents a study of energy-efficient operation of vehicles with electrified powertrains leveraging route information, such as road grades, to adjust the speed trajectory. First, Pontryagin’s Maximum Principle (PMP) is applied to derive necessary conditions and to determine the possible operating modes. The analysis shows that only 5 modes are required to achieve minimum energy consumption; full propulsion, cruising, coasting, full regeneration, and full regeneration with conventional braking. The minimum energy consumption problem is reformulated and solved in the distance domain using Dynamic Programming to optimize speed profiles. A case study is shown for a light weight military robot including road grades. For this system, a tradeoff between energy consumption and trip time was found. The optimal cycle uses 20% less energy for the same trip duration, or could reduce the travel time by 14% with the same energy consumption compared to the baseline operation.

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