Differential flatness based trajectory generation for time-optimal helicopter shipboard landing

2018 ◽  
Author(s):  
Di Zhao ◽  
Jayanth Krishnamurthi ◽  
Farhan Gandhi ◽  
Sandipan Mishra
Keyword(s):  
Trajectory Generation ◽  
Differential Flatness ◽  
Time Optimal ◽  
Shipboard Landing

Time-Optimal Trajectory Generation of Rotary Cranes with Load Sway Reduction Using Only Horizontal Boom Motion

2021 ◽  
Author(s):  
Abdallah Farrage ◽  
Hideki Takahashi ◽  
Kenichi Terauchi ◽  
Shintaro Sasai ◽  
Hitoshi Sakurai ◽  
...  
Keyword(s):  
Optimal Trajectory ◽  
Trajectory Generation ◽  
Time Optimal

A Time-optimal Trajectory Generation Approach with Non-uniform B-splines

2021 ◽  
Vol 19 (12) ◽  
pp. 3947-3955
Author(s):  
Thanh Phan-Huu ◽  
Vo Hoang Nguyen ◽  
Ulrich Konigorski
Keyword(s):  
Optimal Trajectory ◽  
Trajectory Generation ◽  
B Splines ◽  
Time Optimal

An Efficient Approach of Time-Optimal Trajectory Generation for the Fully Autonomous Navigation of the Quadrotor

2017 ◽  
Vol 139 (6) ◽  
Author(s):  
Wei Dong ◽  
Ye Ding ◽  
Jie Huang ◽  
Xiangyang Zhu ◽  
Han Ding
Keyword(s):  
Linear Programming ◽  
Programming Problem ◽  
Trajectory Tracking ◽  
Linear Programming Problem ◽  
Optimal Trajectory ◽  
Trajectory Generation ◽  
Nurbs Curve ◽  
Tracking Controller ◽  
Time Optimal ◽  
Trajectory Tracking Controller

In this work, a time-optimal trajectory generation approach is developed for the multiple way-point navigation of the quadrotor based on the nonuniform rational B-spline (NURBS) curve and linear programming. To facilitate this development, the dynamic model of the quadrotor is formulated first. Then, the geometric trajectory regarding multiple way-point navigation is constructed based on the NURBS curve. With the constructed geometric trajectory, a time-optimal interpolation problem is imposed considering the velocity, acceleration, and jerk constraints. This optimization problem is solved in two steps. In the first step, a preliminary result is obtained by solving a linear programming problem without jerk constraints. Then by introducing properly relaxed jerk constraints, a second linear programming problem is formulated based on the preliminarily obtained result, and the time-optimal problem can be fully solved in this way. Subsequently, a nonlinear trajectory tracking controller is developed to track the generated trajectory. The feasibilities of the proposed trajectory generation approach as well as the tracking controller are verified through both simulations and real-time experiments. With enhanced computational efficiency, the proposed approach can generate trajectory for an indoor environment with the smooth acceleration profile and moderate velocity V≈1 m/s in real-time, while guaranteeing velocity, acceleration, and jerk constraints: Vmax=1 m/s, Amax=2 m/s2, and Jmax=5 m/s3. In such a case, the trajectory tracking controller can closely track the reference trajectory with cross-tracking error less than 0.05 m.

scholarly journals Jerk-Limited Time-Optimal Reference Trajectory Generation for Robot Actuators

2017 ◽  
Vol 17 (4) ◽  
pp. 264-271 ◽  
Author(s):  
Byeong-Ju Park ◽  
Hong-Jun Lee ◽  
Kwang-Kyo Oh ◽  
Chae-Joo Moon
Keyword(s):  
Trajectory Generation ◽  
Reference Trajectory ◽  
Limited Time ◽  
Time Optimal
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