scholarly journals Time-optimal path planning for flat systems with application to a wheeled mobile robot

2013 ◽  
Author(s):  
Wannes Van Loock ◽  
Goele Pipeleers ◽  
Jan Swevers
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Optimal Path ◽  
Wheeled Mobile Robot ◽  
Optimal Path Planning ◽  
Flat Systems ◽  
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

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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