Trajectory planning

دسترسی آزاد مقاله

1 - Optimal Trajectory Planning of a Box Transporter Mobile Robot
Hossein Barghi Jond Adel Akbarimajd Nurhan Gürsel Özmen Sonia Gharibzadeh

This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulatio چکیده کامل

This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained and are represented as a bound on robot acceleration. A trajectory optimization problem is defined for general motion where dynamic grasp conditions are regarded as constraint on acceleration. The optimal trajectory planning for linear, circular and curve motions are discussed. Optimization problems for linear and circular trajectories were analytically solved by previous studies and here we focused with curve trajectory where Genetic Algorithm is employed as a solver tool. Motion simulations showed that the resulted trajectories satisfy the acceleration constraint as well as velocity boundary condition that is needed to accomplish non-prehensile box manipulation task. پرونده مقاله

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2 - Direct Optimal Motion Planning for Omni-directional Mobile Robots under Limitation on Velocity and Acceleration
Naser Azim Mohseni Ahmad Fakharian

10.22094/joie.2017.280

This paper describes a low computational direct approach for optimal motion planning and obstacle avoidance of Omni-directional mobile robots within velocity and acceleration constraints on the robot motion. The main purpose of this problem is the minimization of a quad چکیده کامل

This paper describes a low computational direct approach for optimal motion planning and obstacle avoidance of Omni-directional mobile robots within velocity and acceleration constraints on the robot motion. The main purpose of this problem is the minimization of a quadratic cost function while limitation on velocity and acceleration of robot is considered and collision with any obstacle in the robot workspace is avoided. This problem can be formulated as a constraint nonlinear optimal control problem. To solve this problem, a direct method is utilized which employs polynomials functions for parameterization of trajectories. By this transforming, the main optimal control problem can be rewritten as a nonlinear programming problem (NLP) with lower complexity. To solve the resulted NLP and obtain optimal trajectories, a new approach with very small run time is used. Finally, the performance and effectiveness of the proposed method are tested in simulations and some performance indexes are computed for better assessment. Furthermore, a comparison between proposed method and another direct method is done to verify the low computational cost and better performance of the proposed method. پرونده مقاله

دسترسی آزاد مقاله

3 - Trajectory Planning Using High Order Polynomials under Acceleration Constraint
Hossein Barghi Jond Vasif V. Nabiyev Rifat Benveniste

10.22094/joie.2016.255

The trajectory planning, which is known as a movement from starting to end point by satisfying the constraints along the path is an essential part of robot motion planning. A common way to create trajectories is to deal with polynomials which have independent coefficien چکیده کامل

The trajectory planning, which is known as a movement from starting to end point by satisfying the constraints along the path is an essential part of robot motion planning. A common way to create trajectories is to deal with polynomials which have independent coefficients. This paper presents a trajectory formulation as well as a procedure to arrange the suitable trajectories for applications. Created trajectories aimed to be used for safe and smooth navigation in mobile robots. First, a trajectory problem is formulized by considering a border on the robotâ€™s acceleration as the constraint. Also, initial and final conditions for the robotâ€™s velocity along the straight path are settled. To investigate that suggested trajectories perform motions with continuous velocity and smooth acceleration, three trajectory problems are formulated using 3rd, 4th and 5th degree of polynomials. The high-degree polynomials are used because of providing of smoothness, but there is complexity in the calculation of additional coefficients. To reduce the complexity of finding the high-degree polynomial coefficients, the acceleration constraint is simplified and this process is based on a certain scenarios. Afterwards, the coefficients of the used polynomials are found by taking into account the acceleration constraint and velocity conditions. Additionally, to compare the obtained solutions through proposed scenarios, the polynomials` coefficients are solved numerically by Genetic Algorithm (GA). The computer simulation of motions shows that as well as acceleration constraint, the velocity conditions at the beginning and at the end of motion are fulfilled. پرونده مقاله

دسترسی آزاد مقاله

4 - Optimal Trajectory Planning for an Industrial Mobile Robot using Optimal Control Theory
Pouya Mallahi Kolahi Masoud Mosayebi

Optimal path planning with optimal journey time and the motor saturation limit are two main challenges in mobile industrial robot design. The motion speed and motor saturation limit are important factors determining the required torque. Calculating the optimal torque va چکیده کامل

Optimal path planning with optimal journey time and the motor saturation limit are two main challenges in mobile industrial robot design. The motion speed and motor saturation limit are important factors determining the required torque. Calculating the optimal torque value reduces the construction and motor selection costs. This paper proposes the theory of optimal control open-loop base model for path planning by simultaneously minimizing the journey time, wheels’ torque for industrial robots. In this study, nonlinear equations of robot motion were considered as a constraint in optimal control problems. Next, the cost function was proposed, including the torque of the left and right wheels and time-related terminal conditions and disturbance, in which the nonlinear equations of the industrial robot motion are assumed as constraints. The final equations were numerically solved, and the effectiveness of the proposed method was demonstrated by simulating and path design for industrial robots' motions along with considering motor saturation limit. پرونده مقاله

دسترسی آزاد مقاله

5 - Time-Distance Optimal Trajectory Planning For Mobile Robots On Straight And Circular Paths
Hossein Barghi Jond Adel Akbarimajd Nurhan Gursel Ozmen

Trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. In this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position t چکیده کامل

Trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. In this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set of time. Along the path, the robot requires to observe a certain acceleration profile. Then, we formulated an optimization approach to generate optimal trajectory profiles for the mobile robot in the cases of maximum-distance and minimum-time problems. The optimization problem presented to find the trajectory strategy that would give the robot time-distance optimality to move from a start point to an end point where the robot should stay inside its acceleration limits all the time. The problem solved analytically because as it is well known, numerical solutions and iterative methods are time-consuming, therefore, our closed-form solutions demand low computation time. Finally, the results are verified by simulations. پرونده مقاله

دسترسی آزاد مقاله

6 - Optimal Trajectory Planning of a Mobile Robot with Spatial Manipulator For Spatial Obstacle Avoidance
مصطفی غیور مصطفی شریعتی‌نیا

Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes ki چکیده کامل

Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the existence of multiple solutions in specified workspace. This paper presents a methodology for generating paths and trajectories for both the mobile platform and a 3DOF manipulator mounted on it, in the presence of obstacles. Obstacles add kinematics constraint into optimization problem. The method employs smooth and continuous functions such as polynomials. The proposed method includes obtaining time history of motion of mobile robot. It is supposed obstacles can be enclosed in cylinders. Platform that has been used in this research is a differentially-driven platform. The core of the method is based on mapping the non-holonomic constraint to a space where it can be satisfied trivially. A suitable criterion can be used to solve an optimization problem to find the optimal solution. In this research, the problem of path planning with simultaneous optimization of kinematics and dynamic indices has been accomplished using genetic algorithm in order to find the global optimum solution. The validity of the methodology is demonstrated by using a differential-drive mobile manipulator system, and various simulations of platform with a spatial 3-link manipulator are presented to show the effectiveness of the presented method. پرونده مقاله

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