scholarly journals Motion Constraints and Trajectory Planning of a Planar Active Dynamic Balancing Mechanism

2015 ◽  
Vol 2015 ◽  
pp. 1-11
Author(s):  
Kun Wang ◽  
Ke Li ◽  
Peng Chen ◽  
Qiuju Zhang ◽  
Yi Cao
Keyword(s):  
Dynamic Model ◽  
Collision Avoidance ◽  
Trajectory Planning ◽  
Structural Constraint ◽  
Dynamic Balancing ◽  
Numerical Examples ◽  
Motion Constraints ◽  
Active Balancing ◽  
Normal Trajectory

We propose a new solution to the active balancing issue under mechanical structural constraint. A dynamic model of the 3-DOF active balancer is established considering the limitations of the mechanical construction due to the lengths of the sliding rails. A methodology for the collision-avoidance trajectory planning is presented in addition to the normal trajectory planning to design the collision-free active balancing strategy. Numerical examples are presented to illustrate the effect of the parameter constrains as well as verify the effectiveness and necessity of trajectory planning.

A study about trajectory planning sensitivity in high-speed cooperative collision avoidance

2015 ◽  
Author(s):  
Juan-Bautista Tomas-Gabarron ◽  
Felipe Garcia-Sanchez ◽  
Antonio-Javier Garcia-Sanchez ◽  
Joan Garcia-Haro
Keyword(s):  
Collision Avoidance ◽  
Trajectory Planning ◽  
High Speed

Optimized artificial potential field algorithm to multi-unmanned aerial vehicle coordinated trajectory planning and collision avoidance in three-dimensional environment

2019 ◽  
Vol 233 (16) ◽  
pp. 6032-6043 ◽  
Author(s):  
Jun Tang ◽  
Jiayi Sun ◽  
Cong Lu ◽  
Songyang Lao
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Collision Avoidance ◽  
Unmanned Aerial Vehicle ◽  
Trajectory Planning ◽  
Potential Field ◽  
Three Dimensional ◽  
Artificial Potential Field ◽  
Aerial Vehicles ◽  
Aerial Vehicle ◽  
Vehicle Trajectory

Multi-unmanned aerial vehicle trajectory planning is one of the most complex global optimum problems in multi-unmanned aerial vehicle coordinated control. Results of recent research works on trajectory planning reveal persisting theoretical and practical problems. To mitigate them, this paper proposes a novel optimized artificial potential field algorithm for multi-unmanned aerial vehicle operations in a three-dimensional dynamic space. For all purposes, this study considers the unmanned aerial vehicles and obstacles as spheres and cylinders with negative electricity, respectively, while the targets are considered spheres with positive electricity. However, the conventional artificial potential field algorithm is restricted to a single unmanned aerial vehicle trajectory planning in two-dimensional space and usually fails to ensure collision avoidance. To deal with this challenge, we propose a method with a distance factor and jump strategy to resolve common problems such as unreachable targets and ensure that the unmanned aerial vehicle does not collide into the obstacles. The method takes companion unmanned aerial vehicles as the dynamic obstacles to realize collaborative trajectory planning. Besides, the method solves jitter problems using the dynamic step adjustment method and climb strategy. It is validated in quantitative test simulation models and reasonable results are generated for a three-dimensional simulated urban environment.

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