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Chance-Constrained Trajectory Planning With Multimodal Environmental Uncertainty
IEEE Control Systems LettersWe tackle safe trajectory planning under Gaussian mixture model (GMM) uncertainty. Specifically, we use a GMM to model the multimodal behaviors of obstacles’ uncertain states. Then, we develop a mixed-integer conic approximation to the chance-constrained
Kai Ren, Heejin Ahn, M. Kamgarpour
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Trajectory Planning for an Autonomous Vehicle in Spatially Constrained Environments
IEEE transactions on intelligent transportation systems (Print), 2022Road shoulders and slopes often appear in unstructured environments. They make 2.5D vehicle trajectory planning commonly seen in our daily life, which lies on a 2D manifold embedded in a 3D space.
Yuqing Guo +5 more
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Trajectory Planning of Tracked Vehicles
Journal of Dynamic Systems, Measurement, and Control, 1995This paper presents a method for computing the track forces and track speeds of planar tracked vehicles, required to follow a given path at specified speeds on horizontal and inclined planes. It is shown that the motions of a planar tracked vehicle are constrained by a velocity dependent nonholonomic constraint, derived from the force equation ...
Shiller, Zvi, Serate, William
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IEEE Transactions on Vehicular Technology
Multi-unmanned aerial vehicle (multi-UAV) cooperative trajectory planning is an extremely challenging issue in UAV research field due to its NP-hard characteristic, collision avoiding constraints, close formation requirement, consensus convergence and ...
Xiaojun Xing +4 more
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Multi-unmanned aerial vehicle (multi-UAV) cooperative trajectory planning is an extremely challenging issue in UAV research field due to its NP-hard characteristic, collision avoiding constraints, close formation requirement, consensus convergence and ...
Xiaojun Xing +4 more
semanticscholar +1 more source
IEEE Transactions on Automation Science and Engineering, 2021
In a dynamic environment, moving to the destination safely and effectively is of paramount importance for an unmanned ground vehicle (UGV). This article presents a strategy of trajectory planning and tracking that aims to ensure the UGV’s safety in an ...
Xiaobin Zhou +4 more
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In a dynamic environment, moving to the destination safely and effectively is of paramount importance for an unmanned ground vehicle (UGV). This article presents a strategy of trajectory planning and tracking that aims to ensure the UGV’s safety in an ...
Xiaobin Zhou +4 more
semanticscholar +1 more source
2015 Fifth International Conference on Instrumentation and Measurement, Computer, Communication and Control (IMCCC), 2015
To achieve missile erecting process run smoothly, this paper taking the arm vertex of the vertical bar as the object of the research. And it proposes a new method that polynomial interpolation is used to plan trajectory. By determining expressions of the trajectory of the various kinematic parameters, the graphic simulations of each variable are ...
Wang Xinyu, Wang Dandan, Hu Tao
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To achieve missile erecting process run smoothly, this paper taking the arm vertex of the vertical bar as the object of the research. And it proposes a new method that polynomial interpolation is used to plan trajectory. By determining expressions of the trajectory of the various kinematic parameters, the graphic simulations of each variable are ...
Wang Xinyu, Wang Dandan, Hu Tao
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IEEE Transactions on Vehicular Technology, 2022
Target approaching is an essential ability in marine applications, such as underwater rescue. The recent advances in autonomous underwater vehicles (AUVs) make them ideal options to deliver the target approaching in anchor-free environments, where no ...
Yichen Li +4 more
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Target approaching is an essential ability in marine applications, such as underwater rescue. The recent advances in autonomous underwater vehicles (AUVs) make them ideal options to deliver the target approaching in anchor-free environments, where no ...
Yichen Li +4 more
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Trajectory Planning and Optimization for Robotic Machining Based On Measured Point Cloud
IEEE Transactions on robotics, 2022Industrial robots are characterized by good flexibility and a large working space, and offer a new approach for the machining of large and complex parts with small machining allowances (extra material allowed for subsequent machining). Parts of this type
Gang Wang +7 more
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Automated Interplanetary Trajectory Planning
AIAA/AAS Astrodynamics Specialist Conference, 2012Many space mission planning problems may be formulated as hybrid optimal control problems (HOCP), i.e. problems that include both real-valued variables and categorical variables. In interplanetary trajectory design problems the categorical variables will typically specify the sequence of planets at which to perform ybys, and the real ...
Jacob Englander +2 more
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Joint Computation Offloading and Trajectory Planning for UAV-Assisted Edge Computing
IEEE Transactions on Wireless Communications, 2021With excellent flexibility, unmanned aerial vehicles (UAVs) can act as airborne computing servers to assist smart terminals (STs) with their computationally-intense and delay-sensitive tasks.
Chao Sun, Wei Ni, Xin Wang
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