相关论文: Optimal Trajectory Planning for Space Object Track…
This paper presents a numerical optimization algorithm for generating approach and landing trajectories for a six-degree-of-freedom (6-DoF) aircraft. We improve on the existing research on aircraft landing trajectory generation by…
This paper describes autonomous racing of RC race cars based on mathematical optimization. Using a dynamical model of the vehicle, control inputs are computed by receding horizon based controllers, where the objective is to maximize…
Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can be feedback-linearized to a double integrator (e.g.,…
A method to compute optimal collision avoidance maneuvers for short-term encounters is presented. The maneuvers are modeled as multiple-impulses to handle impulsive cases and to approximate finite burn arcs associated either with short…
Multicopters with collision-resilient designs can operate with trajectories involving collisions. This paper presents a sampling-based method that can exploit collisions for better motion planning. The method is built upon the basis of the…
This work presents a novel algorithm for impulsive optimal control of linear time-varying systems with the inclusion of input magnitude constraints. Impulsive optimal control problems, where the optimal input solution is a sum of delta…
Vehicle trajectory planning is a key component for an autonomous driving system. A practical system not only requires the component to compute a feasible trajectory, but also a comfortable one given certain comfort metrics. Nevertheless,…
We study the minimum time control problem of the launchers. The optimal trajectories of the problem may contain singular arcs, and thus chattering arcs. The motion of the launcher is described by its attitude kinematics and dynamics and…
Planning in hybrid systems with both discrete and continuous control variables is important for dealing with real-world applications such as extra-planetary exploration and multi-vehicle transportation systems. Meanwhile, generating…
This paper proposes a motion control scheme for robots operating in a dynamic environment with concave obstacles. A Model Predictive Controller (MPC) is constructed to drive the robot towards a goal position while ensuring collision…
The exploration of planetary surfaces is predominately unmanned, calling for a landing vehicle and an autonomous and/or teleoperated rover. Artificial intelligence and machine learning techniques can be leveraged for better mission…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
This paper addresses the problem of trajectory optimization for an unmanned surface vehicle while considering direction-dependent ocean currents and flexible refueling constraints. This work is motivated by the rising interest in developing…
This study proposes a new automated strategy for designing and optimizing three-dimensional interplanetary low-thrust (LT) trajectories. The method formulates the design as a hybrid optimal control problem and solves it using a two-step…
In drone racing, the time-minimum trajectory is affected by the drone's capabilities, the layout of the race track, and the configurations of the gates (e.g., their shapes and sizes). However, previous studies neglect the configuration of…
This article solves an optimal control problem arising in attitude control of a spacecraft under state and control constraints. We first derive the discrete-time attitude dynamics by employing discrete mechanics. The orientation transfer,…
Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to…
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…
This article presents a novel approach, named MCMP (Monte Carlo Motion Planning), to the problem of motion planning under uncertainty, i.e., to the problem of computing a low-cost path that fulfills probabilistic collision avoidance…
We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…