16 papers · ranked by Valyu relevance
Jun-Ting Li, Chih-Keng Chen, Hongbin Ren, Arturo de la Escalera Hueso
'Arturo de la Escalera Hueso'] This article presents a hierarchical control framework for autonomous vehicle trajectory planning and tracking, addressing the challenge of accurately following high-speed, at-limit maneuvers. The proposed time-optimal trajectory planning and tracking (TOTPT) framework utilizes a…
Jedrzej Drozdowicz, Piotr Samczynski, Federico Alimenti
This paper presents a trajectory determination and optimization method of multirotors equipped with a single-channel radar to obtain 3D Synthetic Aperture Radar imaging. The result is a realistic trajectory that allows to obtain an imaging of the assumed quality in less time than using a multi-pass trajectory. The…
Xinmin Liu, Rodney D. Wiersma, Qinghui Zhang
Once the start and desired positions of the platform are known, the next step is to design a suitable trajectory between these two points. For reference, a path denotes the locus of points in a space and is a pure geometric description of motion, while a trajectory is a path with timing information . For robotic motion…
Taokai Xia, Hui Chen, Chaoyang Jiang
Autonomous vehicles are rapidly advancing and have the potential to revolutionize transportation in the future. This paper primarily focuses on vehicle motion trajectory planning algorithms, examining the methods for estimating collision risks based on sensed environmental information and approaches for achieving…
Markus Zwick, Matthias Gerdts, Peter Stütz, Petros S. Bithas
UAVs are widely used for aerial reconnaissance with imaging sensors. For this, a high detection performance (accuracy of object detection) is desired in order to increase mission success. However, different environmental conditions (negatively) affect sensory data acquisition and automated object detection. For this…
Yizhou Liu, Fusheng Zha, Mantian Li, Wei Guo + 4 more
'Pengfei Wang' 'Yajing Zang' 'Lining Sun'] Many algorithms in probabilistic sampling-based motion planning have been proposed to create a path for a robot in an environment with obstacles. Due to the randomness of sampling, they can efficiently compute the collision-free paths made of segments lying in the…
Wei Sun, Pengxiang Sun, Wei Ding, Jingang Zhao + 1 more
Unmanned aerial vehicles (UAVs) have become the focus of current research because of their practicability in various scenarios. However, current local path planning methods often result in trajectories with numerous sharp or inflection points, which are not ideal for smooth UAV flight. This paper introduces a UAV path…
David Charles Sternberg, David Miller
Docking with potentially tumbling Targets is a common element of many mission architectures, including on-orbit servicing and active debris removal. This paper studies synchronized docking trajectories as a way to ensure the Chaser satellite remains on the docking axis of the tumbling Target, thereby reducing collision…
Sandeep K. Singh, John L. Junkins
A supervised stochastic learning method called the Gaussian Process Regression (GPR) is used to design an autonomous guidance law for low-thrust spacecraft. The problems considered are both of the time- and fuel-optimal regimes and a methodology based on “perturbed back-propagation” approach is presented to generate…
Adel Mokrane, Abdelaziz Benallegue, Amal Choukchou-Braham, Abdelhafid El Hadri + 2 more
'Abdelhafid El Hadri' 'Brahim Cherki' 'Gregor Klancar'] In this paper, we present a complete and efficient solution of guidance, navigation and control for a quadrotor platform to accomplish 3D coverage flight missions in mapped vineyard terrains. Firstly, an occupancy grid map of the terrain is used to generate a safe…
Giuliana E. Miceli, Natasha Bosanac
This paper uses a motion primitive approach to automatically generate constrained spacecraft trajectories for Neptunian system exploration. Motion primitives are generated as smaller building blocks of motion that summarize periodic orbits and arcs along stable and unstable manifolds of selected orbits in the…
Guangrong Chen, Ningze Wei, Lei Yan, HuaFeng Lu + 2 more
Trajectory planning is an important issue for manipulators and robots. To get a optimal trajectory, many constraints including actuators specifications, motion range of joints, workspace limitations, etc, and many objectives including the shortest time, the shortest distance, the lowest energy consumption, the minimum…
Karla Raigoza, Timothy Sands, Radu Danescu
Over the past four decades, space debris has been identified as a growing hazard for near-Earth space systems. With limited access to space debris tracking databases and only recent policy advancements made to secure a sustainable space environment and mission architecture, this manuscript aims to establish an…
Assem F. Alabu-Husain, Mostafa A. ElBahloul, Mahmoud M. Saafan, Eman M. El-Gendy
This study introduces the Pray Optimization Algorithm (POA), a novel metaheuristic inspired by the procedural rituals of Islamic pray, designed to solve complex engineering and robotic manipulator problems. The mathematical model is structured into three distinct phases: Phase I simulates searching for a suitable…
Xiongfei Geng, Yongcai Wang, Ping Wang, Baochen Zhang
Maritime Autonomous Surface Ships (MASS) with advanced guidance, navigation, and control capabilities have attracted great attention in recent years. Sailing safely and efficiently are critical requirements for autonomous control of MASS. The MASS utilizes the information collected by the radar, camera, and Autonomous…
Abdelhamid Ghoul, Awais Muhammad Sattar, Mohammed Amin Adoul, Osama Sadki + 1 more
Continuum robots offer high dexterity and compliance, which makes them attractive for tasks in confined, hazardous, and hard-to-reach environments. Despite this potential, inverse kinematics (IK) for multi-section continuum robots remains challenging due to strong nonlinearities and redundancy, and the problem becomes…