It incorporates the centralized high-level layer performing the mission analysis and task allocation functions yielding instructions that are transmitted to the UAVs, as well as the decentralized low-level fashion that the UAVs perform the trajectory generation function in turn. First, the mission ...
Optimal Time Allocation for Quadrotor Trajectory Generation,Fei Gao, William Wu, Jie Pan, Boyu Zhou and Shaojie Shen。对之前TOPP(time optimal path parameterization)问题(非线性优化转SOCP解Practical Time-Optimal Trajectory Planning问题)在无人机上的应用。不过最后还是Mosek求解,这个文章18年发表的,经汪博...
Smooth and Time-Optimal Trajectory Generation for High Speed Machine Tools In machining complex dies, molds, aerospace and automotive parts, or biomedical components, it is crucial to minimize the cycle time, which reduces costs, while preserving the quality and tolerance integrity of the part being...
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Time-optimal trajectories for robotic transfer devicesA time-optimal trajectory generation method, for a robotic manipulator having a transport path with at least one path segment, comprising generating a forward time-optimal trajectory of the manipulator along the at least one path segment from a ...
In general, the optimality of a trajectory can be defined according to several objectives, like minimizing the transfer time or the energy. Traditionally, trajectories are optimized by the application of numerical optimal control methods that are based on the calculus of variations....
The smooth time-optimal trajectory generation (STOTG) problem is formulated as a general optimal problem. And axis jerk (derivative of acceleration with respect to time) constraints are introduced this problem to remove discontinuities of the acceleration profiles. The desired smoothness of the can ...
Near Time-Optimal Trajectory Generation for Multirotors using Numerical Optimization and Safe Corridors Trajectory generation is a fundamental problem for every type of robot. In most applications, the robots should reach their goals in the minimum time possi... C Toumieh,A Lambert - 《Journal of...
Time-optimal trajectory generation for coordinated robotic manipulators using cell-to-cell mapping method Wang F Y,Pu B.Time-optimal trajectory generation for coordinated robotic manipulator. SPIE Cooperative Intelligent Robotics in Space . 1991Wang, F.-Y. and Pu, B., 'Time-optimal trajectory genera...
Planning time-optimal trajectory for coordinated robot arms The results of applying the cell-to-cell mapping method to the problem of optimal trajectory generation for coordinated robotic manipulators handling a com... Fei-Yue Wang,B Pu - IEEE International Conference on Robotics & Automation 被引量...