scholarly journals Path Homotopy Invariants and their Application to Optimal Trajectory Planning

2015 ◽  
Author(s):  
S Bhattacharya ◽  
R Ghrist
Keyword(s):  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Path Homotopy ◽  
Homotopy Invariants ◽  
Optimal Trajectory Planning

scholarly journals Time-jerk optimal trajectory planning of hydraulic robotic excavator

2021 ◽  
Vol 13 (7) ◽  
pp. 168781402110346
Author(s):  
Yunyue Zhang ◽  
Zhiyi Sun ◽  
Qianlai Sun ◽  
Yin Wang ◽  
Xiaosong Li ◽  
...  
Keyword(s):  
Angular Velocity ◽  
Trajectory Planning ◽  
Optimal Trajectory ◽  
High Efficiency ◽  
Optimal Solution ◽  
Optimal Time ◽  
Target Point ◽  
Robotic Excavator ◽  
The Impact ◽  
Optimal Trajectory Planning

Due to the fact that intelligent algorithms such as Particle Swarm Optimization (PSO) and Differential Evolution (DE) are susceptible to local optima and the efficiency of solving an optimal solution is low when solving the optimal trajectory, this paper uses the Sequential Quadratic Programming (SQP) algorithm for the optimal trajectory planning of a hydraulic robotic excavator. To achieve high efficiency and stationarity during the operation of the hydraulic robotic excavator, the trade-off between the time and jerk is considered. Cubic splines were used to interpolate in joint space, and the optimal time-jerk trajectory was obtained using the SQP with joint angular velocity, angular acceleration, and jerk as constraints. The optimal angle curves of each joint were obtained, and the optimal time-jerk trajectory planning of the excavator was realized. Experimental results show that the SQP method under the same weight is more efficient in solving the optimal solution and the optimal excavating trajectory is smoother, and each joint can reach the target point with smaller angular velocity, and acceleration change, which avoids the impact of each joint during operation and conserves working time. Finally, the excavator autonomous operation becomes more stable and efficient.

A Novel Algorithm for Time Optimal Trajectory Planning

2014 ◽  
Author(s):  
Mingxing Yuan ◽  
Bin Yao ◽  
Dedong Gao ◽  
Xiaocong Zhu ◽  
Qingfeng Wang
Keyword(s):  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Optimal Solution ◽  
Problem Of Time ◽  
High Productivity ◽  
Hard Constraints ◽  
Time Optimal ◽  
Rate Optimization ◽  
Feed Rate Optimization ◽  
Optimal Trajectory Planning

Time optimal trajectory planning under various hard constraints plays a significant role in simultaneously meeting the requirements on high productivity and high accuracy in the fields of both machining tools and robotics. In this paper, the problem of time optimal trajectory planning is first formulated. A novel back and forward check algorithm is subsequently proposed to solve the minimum time feed-rate optimization problem. The basic idea of the algorithm is to search the feasible solution in the specified interval using the back or forward operations. Four lemmas are presented to illustrate the calculating procedure of optimal solution and the feasibility of the proposed algorithm. Both the elliptic curve and eight profile are used as case studies to verify the effectiveness of the proposed algorithm.

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