Integrated Trajectory Planning Research Articles

Integrated Trajectory Planning and Resource Scheduling for Multiple Target Tracking in Airborne Radar Network

Integrated Trajectory Planning and Resource Scheduling for Multiple Target Tracking in Airborne Radar Network

An Integrated Trajectory Planning and Motion Control Strategy of a Variable Rotational Speed Pump-Controlled Electro-Hydraulic Actuator

This article proposes an integrated two-loop motion control strategy of an electro-hydraulic actuator, in which the cylinder actuator is driven by a variable speed pump to track a desired trajectory. The control strategy combines constrained trajectory planning (outer loop) with nonlinear motion control (inner loop) to achieve accurate trajectory tracking of electro-hydraulic actuators under constraints. A nonlinear filter-type trajectory planner is utilized as the outer loop to synthesize the optimal trajectory, reaching the desired reference with the minimum time while fulfilling the constraints. A full-state constraints assignment approach is proposed, including motion and pressure state constraints. Furthermore, to accurately track the synthesized trajectory of the outer loop, a model-based adaptive robust backstepping motion controller is designed as the inner loop, which can realize guaranteed robustness and high accuracy of the trajectory tracking in the presence of dynamic nonlinearities and parametric uncertainties of the electro-hydraulic actuator. Experiments with contrast control strategies and practical trajectories are conducted, which comprehensively verify the advantages of the proposed integrated two-loop control strategy.

Toward Safe and Personalized Autonomous Driving: Decision-Making and Motion Control With DPF and CDT Techniques

In this article, a novel approach of decision-making and motion control is designed for realizing safe and personalized driving of autonomous vehicles. A new lane-change intention generation model and a new lane-change decision-making algorithm are proposed. The feature of the proposed decision-making module is that the interactions between the ego vehicle and other surrounding vehicles are represented by the dynamic potential field (DPF) and embedded in the gap acceptance model to ensure the safety and personalization during driving. In addition, an integrated trajectory planning and tracking control algorithm, which incorporates the artificial potential field and constrained Delaunay triangulation (CDT) into the model predictive control framework, is developed. The newly developed integrated controller allows efficient execution of the expected motion. The proposed approach is tested under different driving conditions and further compared with an existing baseline method. The results show that the proposed approach is able to make safe and personalized decisions, and execute motion control more efficiently for automated driving under dynamic situations, validating its feasibility and effectiveness.

Six-DOF Spacecraft Optimal Trajectory Planning and Real-Time Attitude Control: A Deep Neural Network-Based Approach.

This brief presents an integrated trajectory planning and attitude control framework for six-degree-of-freedom (6-DOF) hypersonic vehicle (HV) reentry flight. The proposed framework utilizes a bilevel structure incorporating desensitized trajectory optimization and deep neural network (DNN)-based control. In the upper level, a trajectory data set containing optimal system control and state trajectories is generated, while in the lower level control system, DNNs are constructed and trained using the pregenerated trajectory ensemble in order to represent the functional relationship between the optimized system states and controls. These well-trained networks are then used to produce optimal feedback actions online. A detailed simulation analysis was performed to validate the real-time applicability and the optimality of the designed bilevel framework. Moreover, a comparative analysis was also carried out between the proposed DNN-driven controller and other optimization-based techniques existing in related works. Our results verify the reliability of using the proposed bilevel design for the control of HV reentry flight in real time.

Integrated trajectory planning and control for obstacle avoidance manoeuvre using non‐linear vehicle MP algorithm

In the current literature, model-predictive (MP) algorithm is widely applied in autonomous vehicle trajectory planning and control but most of the current studies only apply the linear tyre model, which cannot accurately present the tyre non-linear characteristic. Furthermore, most of these studies separately consider the trajectory planning and trajectory control of the autonomous vehicle and few of them have integrated the trajectory planning and trajectory control together. To fill in above research gaps, this study proposes the integrated trajectory planning and trajectory control method using a non-linear vehicle MP algorithm. To fully utilise the advantages of four-wheel-independent-steering and four-wheel-independent-driving vehicle, the MP algorithm is proposed based on four-wheel dynamics model and non-linear Dugoff tyre model. This study also proposes the mathematical modelling of the static obstacle and dynamic obstacle for the obstacle avoidance manoeuvre of the autonomous vehicle. Finally, simulation results have been presented to show the effectiveness of the proposed control method.

Integrated Trajectory Planning and Sloshing Suppression for Three-Dimensional Motion of Liquid Container Transfer Robot Arm

For liquid transfer system in three-dimensional space, the use of multijoint robot arm provides much flexibility. To realize quick point-to-point motion with minimal sloshing in such system, we propose an integrated framework of trajectory planning and sloshing suppression. The robot motion is decomposed into translational motion of the robot wrist and rotational motion of the robot hand to ensure the upright orientation of the liquid container. The trajectory planning for the translational motion is based on cubic spline optimization with free via points that produces smooth trajectory in joint space while it still allows obstacle avoidance in task space. Input shaping technique is applied in the task space to suppress the motion induced sloshing, which is modeled as spherical pendulum with moving support. It has been found through simulations and experiments that the proposed approach is effective in generating quick motion with low amount of sloshing.