Angular Velocity Research Articles

Asymmetric full-state constrained attitude control for a flexible agile satellite with multiple disturbances and uncertainties

In this paper, an asymmetric full-state constrained attitude control method for a flexible agile satellite with multiple disturbances and uncertainties is proposed. Both the attitudes and angular velocities of the flexible agile satellite are guaranteed in the asymmetric/symmetric bounds by utilizing the time-varying integral barrier Lyapunov function (TVIBLF) and constant integral barrier Lyapunov function (IBLF) respectively. Compared with the existing error-based barrier Lyapunov functions, the asymmetric TVIBLF does not need error transformation, relaxes the conservation of the initial requirements, and has more compatibility. Furthermore, the proposed asymmetric TVIBLF can deal with the asymmetric time-varying constraints without loss of generality. In addition, the high-frequency flexible vibrations, inertial uncertainties, and unknown external disturbance torques affected on the agile satellite are considered respectively. On one hand, a modal observer is utilized to suppress the high-frequency flexible vibration effects on the attitudes. On the other hand, the inertial uncertainties and unknown external disturbance torques are estimated with a multi-variable nonlinear disturbance observer. Therefore, both the asymmetric full-state constrained performances and robustness of the attitude control system for the flexible agile satellite are achieved. The stability of the closed-loop system is proved and numerical simulations have validated the effectiveness of the proposed method.

Aerodynamic Study of a Horizontal Axis Wind Turbine in Surge Motion Under Angular Speed and Blade Pitch Controls

Abstract Floating offshore wind turbines (FOWTs) experience dynamic conditions due to platform motion, requiring specific control strategies to mitigate loads and promote the wake diffusion improving overall wind farm efficiency. These problems can be appropriately modeled by medium-fidelity solvers, which rely on a computational fluid dynamics (CFD) resolution of the flow while avoiding its detailed resolution around the blades, preserving high-fidelity in simulating the wake at an acceptable computational cost. This work adopts a medium-fidelity actuator line model (ALM), implemented in the openfoam environment, previously validated against experiments and multifidelity models in the frame of the OC6 Phase III project. The study analyses several operating conditions during surge motion: a variable angular speed in below-rated condition, conceived to maximize the turbine efficiency, and a collective blade pitch control employable in above-rated conditions to limit surge-induced loads fluctuations. The effect of each control strategy is assessed individually through a systematic comparison with the baseline case with constant angular speed and blade pitch. Results indicate that the angular speed control succeeds in increasing the turbine power and reduces the spanwise variability of the induction factor amplitudes. Conversely, the pitch angle control reduces the force amplitude but does not alter the spanwise trend of the induction factor amplitude.

Development of an observer of rotor angular velocity and resistance moment on the shaft of an adjustable permanent magnet synchronous motor powered through long cable

Relevance. Currently, when using submersible electric motors in centrifugal electric pump installations in cyclic operation mode, there is a reduction in the inter-repair period of submersible equipment, which is associated with a reduction in oil pumping periods to several minutes. As a result, there is a multiple increase in starting currents and torque, which leads to an increase in mechanical loads on the pump shaft and appearance of resonance phenomena during the electric motor acceleration, reducing the reliability of a seal protection. To solve these problems, it is necessary to synthesize closed-loop vector control systems with current and electromagnetic torque control in transient responses. Open-loop scalar control systems for electric drives of oil well production are used in operation, which is due to the complexity of obtaining feedback signals on the angular velocity of the rotor and the moment of resistance on the shaft by means of submersible telemetry. This problem determines the relevance and necessity of developing observers for rotor speed and load torque estimation, taking into account the features of the technological process of installing centrifugal electric pumps, in particular, the presence of a long cable for powering a submersible electric motor based on a synchronous machine with permanent magnets. Aim. To develop a full-order observer rotor speed and load torque for the dynamic system "long supply cable – synchronous motor with permanent magnets". Methods. System analysis and identification of dynamic systems, synthesis of Luenberger observers, mathematical modeling of dynamic systems, electric drives and electrical machines. Result and conclusions. The authors have proposed the mathematical model of a rotor speed and load torque full-order observer for the dynamic system "long supply cable – synchronous motor with permanent magnets". The performance of the observer was investigated under varying load on the shaft, mismatch of non-zero initial conditions, deviation of the parameters of the equivalent circuit of the observer and the object in the range from –20 to +20% of the nominal values.

Keplerian turbulence in Taylor–Couette flow of dilute polymeric solutions

Turbulent flow induced by elastorotational instability in viscoelastic Taylor–Couette flow (TCF) with Keplerian rotation is analogous to a turbulent accretion disk destabilized by magnetorotational instability. We examine this novel viscoelastic Keplerian turbulence via direct numerical simulations (DNS) for the shear Reynolds number ( $Re$ ) ranging from $10^2$ to $10^4$ . The observed characteristic flow structure consists of penetrating streamwise vortices with axial length scales much smaller than the gap width, distinct from the classic centrifugally induced Taylor vortices, which have axial lengths of the gap width. These intriguing vortices persist for the wide $Re$ range considered and give rise to intriguing scaling behaviour in key flow quantities. Specifically, the characteristic axial length of the penetrating vortices is shown to scale as $Re^{-0.22}$ ; the angular momentum transport scales as $Re^{0.42}$ ; the kinetic and elastic boundary-layer thicknesses based on angular velocity and hoop stress near the inner cylinder wall scale as $Re^{-0.48}$ and $Re^{-0.49}$ , respectively. This implies that the viscoelastic Keplerian turbulence belongs to the classical turbulent regime of TCF with the Prandtl–Blasius-type boundary layer. Furthermore, we present an analytical relation between the viscous and elastic dissipation rates of kinetic energy and the angular momentum transport and in turn demonstrate its validity using our DNS data. This study has paved the way for future research to explore astrophysics-related Keplerian turbulence and angular momentum transport via the scaling relations of the analogous TCF of dilute polymeric solutions.

Chaos-based coverage path planning framework for mobile robots and its digital signal processing implementation

Abstract For special coverage path planning, chaos-based mobile robots present a promising solution. The robot can cover the area of interest rapidly with unpredictable trajectories. However, this unpredictability causes difficulties in trajectory control and the robot often makes sharp turns, affecting motion stability. To address these challenges, this paper proposes a universal chaos-based path planning framework for mobile robots. Firstly, a chaotic system that can generate multi-scroll and multi-wing attractors is designed to verify the effectiveness of the framework. Secondly, an integrated system consisting of mobile robots and chaos is proposed to generate chaotic trajectories. By the control parameters in the integrated system, the formation mechanism of continuous chaotic trajectories is shown, which makes the chaotic trajectory have the advantages of scaling, rotating, straightening, and bending, and the path planning no longer relies on the chaotic system only. Then, a regional path planning strategy is proposed to control the angular velocity and workspace of the robot, making its motion smooth and reducing trajectory redundancy. Experiments conducted under this framework have demonstrated its university, with various chaotic systems capable of generating efficient robot trajectories with high coverage rate. Compared with the state-of-the-art similar memoryless algorithms, the coverage task can be accomplished quickly and efficiently by our approach. Finally, the robot trajectory tracking control verifies the controllability of chaotic trajectories, and the implementation of chaotic trajectories with digital signal processing techniques further validates the feasibility of path planning frameworks.

ТРИВИМІРНЕ МОДЕЛЮВАННЯ ЕЛЕКТРОМАГНІТНИХ І ГІДРОДИНАМІЧНИХ ПРОЦЕСІВ У ВІДБИВНІЙ ПЕЧІ ДЛЯ АЛЮМІНІЮ З ЕЛЕКТРОВИХРОВОЮ КАМЕРОЮ

On the basis of the developed mathematical model, a three-dimensional numerical study of electromagnetic and hydrodynamic processes was carried out in a reverberatory melting furnace with an electric vortex chamber in the form of a cylindrical chamber with a curve inductor, which performs two functions: it stirs the molten metal in the furnace bath and immerses the crushed metal scrap in the melt and then transports it to the melting bath. The influence of the height of the connecting channels and the angle of connection to the chamber of the pressure channel on three integral parameters is investigated: the average velocity of the metal in the furnace bath, the melt flow through the cross section of the channels, and the average angular velocity of the metal in the vortex chamber. As a result of the simulation, it was established that with the growth of the relative height of both channels, the first two parameters that characterize the chamber as an electromagnetic stirrer of metal in the furnace bath increase, and the third parameter that defines it as a device for immersing scrap, decreases. As for the angle of connection of the pressure channel, the opposite is true here - with an increase in the angle, the average velocity of the melt in the furnace bath and its flow through the channels decrease, while the average angular velocity of the metal in the chamber increases. It was concluded that in practice it is necessary to find (choose) such compromise values of the height of the channels and the angle of their connection, which would ensure the implementation of both specified functions at a given level. Ref. 8, fig.7.

Obstacle Avoidance of Surface Agent Formation Based on Streamline Traction at Fixed-Time

The marine environment is highly complex and variable, featuring obstacles such as islands, buoys, and vessels. Safe navigation of the surface agent (SA) fleet is crucial for ensuring the safety of the SA fleet, enhancing operational efficiency, and guaranteeing the smooth execution of the fleet’s mission. Regarding the problem of formation obstacle avoidance for SA fleets encountering complex obstacles during navigation, this chapter presents a fixed-time-based safe navigation algorithm for the SA fleet based on streamline traction. Firstly, to precisely position each SA at the designated location within the formation, a highly malleable leader–follower formation mode is introduced. Based on an enhanced interfered fluid dynamical system (EIFDS) obstacle avoidance algorithm, the virtual Leader is guided to evade static obstacles and determine a trajectory of the designated position. Secondly, a first-order fixed-time control Lyapunov function (FTCLF) is designed based on the EIFDS obstacle avoidance algorithm to guide the angular velocity constraint. The optimal guiding angular velocity signal is obtained through quadratic programming, ensuring that the SA steers towards the designated position while avoiding obstacles. Next, for the guiding velocity amplitude signal, a first-order fixed-time control barrier function (FTCBF) is designed based on the streamline formation scheme and the inter-boat safety distance to guide the velocity amplitude constraint. The optimal guiding velocity amplitude signal is obtained through quadratic programming, guaranteeing that each SA maintains the formation while avoiding collisions with adjacent vessels. Finally, the simulation results indicate the effectiveness, superiority, and stability of the proposed fixed-time-based safe navigation guidance algorithm for the SA fleet based on streamline traction.

Stirred Not Shaken: A Longitudinal Pilot Study of Head Kinematics and Cognitive Changes in Horseracing

The purpose of this longitudinal pilot study was to add to the body of research relating to head kinematics/vibration in sport and their potential to cause short-term alterations in brain function. In horseracing, due to the horse’s movement, repeated low-level accelerations are transmitted to the jockey’s head. To measure this, professional jockeys (2 male, 2 female) wore an inertial measurement unit (IMU) to record their head kinematics while riding out. In addition, a short battery of tests (Stroop, Trail Making Test B, choice reaction time, manual dexterity, and visual function) was completed immediately before and after riding. Pre- and post-outcome measures from the cognitive test battery were compared using descriptive statistics. The average head kinematics measured across all jockeys and days were at a low level: resultant linear acceleration peak = 5.82 ± 1.08 g, mean = 1.02 ± 0.01 g; resultant rotational velocity peak = 10.37 ± 3.23 rad/s, mean = 0.85 ± 0.15 rad/s; and resultant rotational acceleration peak = 1495 ± 532.75 rad/s2, mean = 86.58 ± 15.54 rad/s2. The duration of an acceleration event was on average 127.04 ± 17.22 ms for linear accelerations and 89.42 ± 19.74 ms for rotational accelerations. This was longer than those noted in many impact and non-impact sports. Jockeys experienced high counts of linear and rotational head accelerations above 3 g and 400 rad/s2, which are considered normal daily living levels (average 300 linear and 445 rotational accelerations per hour of riding). No measurable decline in executive function or dexterity was found after riding; however, a deterioration in visual function (near point convergence and accommodation) was seen. This work lays the foundation for future large-scale research to monitor the head kinematics of riders, measure the effects and understand variables that might influence them.

Individualized muscle architecture and contractile properties of ankle plantarflexors and dorsiflexors in post-stroke individuals.

This study was to investigate alterations in contractile properties of the ankle plantar- and dorsiflexors in post-stroke individuals. The correlation between muscle architecture parameters and contractile properties was also evaluated. Eight post-stroke individuals and eight age-matched healthy subjects participated in the study. Participants were instructed to perform maximal isometric contraction (MVC) of ankle plantar- and dorsiflexors at four ankle angles, and isokinetic concentric contraction at two angular velocities. B-mode ultrasound images of gastrocnemius medialis (GM) and tibialis anterior (TA) were collected simultaneously during the MVC and isokinetic measurements. Individualized torque-angle and torque-angular velocity relations were established by fitting the experimental data using a second-order polynomial and a rectangular hyperbola function, respectively. Muscle structure parameters, such as fascicle length, muscle thickness and pennation angle of the GM and TA muscles were quantified. Post-stroke subjects had significantly smaller ankle plantarflexor and dorsiflexor torques. The muscle structure parameters also showed a significant change in the stroke group, but no significant difference was observed in the TA muscle. A narrowed parabolic shape of the ankle PF torque-fiber length profile with a lower width span was also found in the stroke group. This study showed that the contractile properties and architecture of ankle muscles in post-stroke individuals undergo considerable changes that may directly contribute to muscle weakness, decreased range of motion, and impaired motion function in individuals after stroke.

Power and thrust control by passive pitch for tidal turbines

Tidal turbines operate in unsteady and non-uniform flows and thus experience large load fluctuations. In this study, we explore the effects of changes in freestream velocity and yaw misalignments on the performance of a turbine equipped with passively pitching blades. We compare the experimental results from a 1.2-m-diameter turbine in a recirculating open channel facility and numerical results based on blade-element-momentum theory. The thrust remains approximately constant with increasing free stream speed, meaning that the structural load on the turbine is minimised. While not held constant, the power increases at less than half of the rate of a turbine with fixed pitch blades. This finding shows that power can be controlled effectively by changing the tip speed ratio, allowing, for example, the power to be capped at a rated value by marginally increasing the angular velocity. Furthermore, the power and thrust are found to be negligibly sensitive to yawed incoming flow compared to a fixed-pitch turbine. Overall, these results demonstrate that passive pitch is a viable alternative to active pitch, and pave the way for further development of this technology.

Neural network modelling of kinematic and dynamic features for signature verification

Online signature parameters, which are based on human characteristics, broaden the applicability of an automatic signature verifier. Although kinematic and dynamic features have previously been suggested, accurately measuring features such as arm and forearm torques remains challenging. We present two approaches for estimating angular velocities, angular positions, and force torques. The first approach involves using a physical UR5e robotic arm to reproduce a signature while capturing those parameters over time. The second method, a cost-effective approach, uses a neural network to estimate the same parameters. Our findings demonstrate that a simple neural network model can extract effective parameters for signature verification. Training the neural network with the MCYT300 dataset and cross-validating with other databases, namely, BiosecurID, Visual, Blind, OnOffSigDevanagari-75 and OnOffSigBengali-75 confirm the model’s generalization capability. The trained model is available at: https://github.com/gvessio/SignatureKinematics.

Characterization of rolling bearing rotation and local defects exploiting their magnetic remanence

Rotational speed and defect monitoring are of crucial relevance for all the rotating machinery. Traditional sensors require to be mounted on or near the rotating bodies, exposing them to significant thermal and mechanical stress. In this work, a method has been developed to measure the angular velocity and to detect the presence of potential bearing defects from the analysis of the magnetic field generated by the residual magnetization of moving parts. To test such an approach, a dedicated experimental setup using a bare induction coil and a magnetoresistive device as separate sensing elements has been developed. This contactless technique provides reliable results and can achieve performance similar to or better than that of accelerometers, which are commonly used for this purpose. The presence of defects has been further assessed using white light interferometry. Finally, the results are discussed and compared with alternative techniques.

Research on optimization of basketball jumping landing techniques and reduction of ankle joint injury risk based on biomechanics analysis

The ankle joint’s functional state is crucial during dynamic basketball movements, especially jumping and landing. A higher risk of ankle injuries is linked to limited ankle dorsiflexion, which can result in biomechanical alterations affecting landing safely and effectively. To improve basketball jumping landing skills and decrease the risk of ankle joint injuries, the objective of this research is to examine the way difficulties of dorsiflexion in the ankle influence the biomechanics of the lower extremities. Seventy-five participants completed basketball-specific stop-jumping actions on a flat surface (Control), a 10°, 20°, and 30° incline, using data from their dominant legs. The musculoskeletal framework was developed to simulate and analyze biomechanical data related to landing techniques. Post-hoc Tukey testing is utilized to estimate the category variations and it utilizes the statistical parametric mapping (SPM). As the angle of ankle restrictions increased, significant alterations in lower extremity biomechanics were detected during basketball jumping landings. Hip extension angles, knee external rotation angles, angular velocities, and knee extension angular velocities all showed appreciable increases. These findings indicate that increased ankle limitation has a significant impact on the mechanics of lower limb movements during athletic performance. The peripatellar muscles’ co-activation gradually increased, and the landing phase showed a substantial increase in the patellofemoral joint contact force (PTF). The impact of ankle dorsiflexion difficulties in joint strain and kinematics during basketball jumping landings is demonstrated by these findings. An enhanced co-activation of the peripatellar muscles and increased PTF in response to increasing ankle restriction indicate compensatory strategies for maintaining balance during basketball landings. This study emphasizes the significance of improving basketball jumping landing techniques to improve ankle stability and decrease the possibility of ankle joint injuries in players.

Fractional-Order Identification of Gyroscope MEMS Noise Under Various Temperature Conditions.

This paper deals with identifying the fractional-order noise parameters for MEMS gyroscopes under various temperature conditions. The significant contribution of the paper is to investigate the relation between the fractional noise model of MEMS devices and different ambient temperatures. In our paper, variance, correlation, and introduced estimation analysis methods have been meticulously applied to determine noise parameters with fractional-order dynamics. Experimental data were collected precisely under various ambient temperatures, while the MEMS device was located in a climate chamber. The origin of the paper is motivated by a project entitled "Family of optoelectronic heads for guided missiles-SEEKER", where the IMU sensor is a crucial electronic device used to measure the angular velocity of the optoelectronic head. It is widely known that the IMU measurements built-in MEMS technology often come with a random walk, as well as biases and noises affecting the final results.

Swirling instability of viscous liquid jets with axial shear effect in gas surroundings

Linear instability analysis of a viscous swirling liquid jet surrounded by ambient gas is carried out by considering the significant influence of axial shear effect. The jet azimuthal flow is assumed as a Rankine vortex, and the non-uniform velocity distribution in the jet axial direction is approximated by parabolic and error functions. The enhancement of jet rotation is found to promote the predominant mode with larger azimuthal wavenumbers, and the mode transition is decided by the competition between centrifugal force and axial shear stress. Subsequently, the influence of the axial shear effect is examined through changing the degree of shear stress and the thickness of the gas velocity boundary layer. It is found that an increase of jet average velocity or surface velocity in the axial direction leads to the predominant mode transition to smaller azimuthal wavenumbers, due to the combined effects of shear stress and gas pressure perturbation. A larger velocity difference between ambient gas and liquid jet also promotes the predominant modes with smaller azimuthal wavenumbers, and the physical mechanism is attributed to gas pressure perturbation. Phase diagrams of different azimuthal modes are given and compared with the study of Kubitschek & Weidman (J. Fluid Mech., vol. 572, 2007, pp. 261–286), where a static swirling column without axial shear stress was considered. The strengthened axial shear effect is found to delay the transition of predominant modes with the increase of angular velocity. Experimental studies considering the swirling jets with different axial velocities are further carried out, which validate the theoretical findings. Different instability mechanisms and their transition rules are also identified through energy budget analysis. This study is expected to give scientific guidance on understanding the instability mechanisms of the swirling jets that widely exist in natural phenomena and engineering applications.

Rotating nonlinear states in trapped binary Bose–Einstein condensates under the action of the spin–orbit coupling

Abstract We report results of systematic analysis of confined steadily rotating patterns in the two-component BEC including the spin–orbit coupling (SOC) of the Rashba type, which acts in the interplay with the attractive or repulsive intra-component and inter-component nonlinear interactions and confining potential. The analysis is based on the system of the Gross–Pitaevskii equations (GPEs) written in the rotating coordinates. The resulting GPE system includes effective Zeeman splitting. In the case of the attractive nonlinearity, the analysis, performed by means of the imaginary-time simulations, produces deformation of the known two-dimensional SOC solitons (semi-vortices and mixed-modes). Essentially novel findings are reported in the case of the repulsive nonlinearity. They demonstrate patterns arranged as chains of unitary vortices which, at smaller values of the rotation velocity Ω, assume the straight (single-string) form. At larger Ω, the straight chains become unstable, being spontaneously replaced by a trilete star-shaped array of vortices. At still larger values of Ω, the trilete pattern rebuilds itself into a star-shaped one formed of five and, then, seven strings. The transitions between the different patterns are accounted for by comparison of their energy. It is shown that the straight chains of vortices, which form the star-shaped structures, are aligned with boundaries between domains populated by plane waves with different wave vectors. A transition from an axisymmetric higher-order (multiple) vortex state to the trilete pattern is investigated too.

Intelligent hardware design for wire status monitoring integrating Beidou GNSS and inertial measurement technology in machine learning environment

ABSTRACT Conventional wire condition monitoring methods often lack the precision and reliability required for real-time assessment in complex environments, leading to undetected failures and compromised power transmission safety. To address these limitations, the article presents an XGBoost (Extreme Gradient Boosting) – LSTM (Long and Short-Term Memory) hybrid model for wire state monitoring using Beidou GNSS (Global Navigation Satellite System) and IMU (Inertial Measurement Unit) sensors. The system tracks wire vibration, tilt, rotation, bending, and stretching in real time. GNSS provides positional data, and IMU records acceleration and angular velocity. The Kalman filter cleans data, and XGBoost and LSTM are used for feature selection and temporal modelling. The combined model achieves 94.1% accuracy overall, with XGBoost at 92.4% and LSTM at 90.9%. Classification accuracy is 95.5% for vibration, 94.7% for bending, and 94.3% for stretching. The experiment also showed that the model has stable performance in different temperature environments, with accuracy fluctuating between 94.0% and 94.2% within the temperature range of −5℃ to 50℃. In general, the XGBoost LSTM model has achieved high-precision and high stability monitoring in wire condition monitoring, which is significantly better than the traditional single model. This study improves the accuracy of wire condition monitoring and has significant practical application value and strong stability.

Study on Propeller Positioning and Trajectory Control of Underwater Robots Based on Bayesian Inference and Multi-Objective Optimization

In ocean exploration, the positioning and trajectory optimization of underwater vehicles are critical research areas that directly impact the success of ocean resource exploration, environmental monitoring, and search and rescue missions. However, the complex and uncertain marine environment poses significant challenges. This study first determines the three-dimensional spatial position of the underwater vehicle, calculates the vehicle's speed in the marine environment through mechanistic analysis, traversing the initial position, velocity, acceleration, angular velocity and angular acceleration of the submersible, fits the motion trajectory using a random walk, and uses Bayesian inference to estimate maximum probability positions of submersibles and select the optimal initial deployment point. To better cope with real-world scenarios involving ocean currents and the diverse motion modes of underwater vehicles, this study further used an improved genetic algorithm to divide the motion trajectory of the submersible into a series of discrete path points, and constructed a multi-objective optimization model with the shortest search and rescue time and the maximum probability of successful search and rescue as the objective function to realize the precise positioning of the lost underwater vehicle.

Impart backspin and pitch the ball up: strategies cricket fast bowlers can employ to generate late swing

ABSTRACT In cricket fast bowling, late swing can increase interception difficulty for opposition batters. However, little is known about the occurrence and cause of late swing. This study investigated ball kinematics and the effect of changing kinematics on late swing with new cricket balls. Markers were placed on the ball to track the trajectory and calculate kinematics u1sing a motion analysis system. Fast bowlers generated varying ball kinematics (linear velocity, angular velocity and seam orientation) and delivery trajectories. A random intercept linear mixed-effects model identified that decreasing ball velocity (release velocity: effect = 0.21, p = 0.051, and pitch velocity: effect = -0.27, p = 0.011) and increasing seam stability (release stability: effect = -0.02, p < 0.001 and pitch stability: effect = 0.02, p = 0.001) were associated with greater late swing. To achieve these changes and create late swing, bowlers can pitch the ball on a full length and impart a large amount of backspin on the ball. However, swing can be influenced by factors such as wind and ball composition and late swing may be difficult to control. Bowlers and coaches should develop strategies to generate late swing but recognise it may be unpredictable in some situations.

B-Splined Trajectory Modified Generation to Maximize Speed of the Nonholonomic AMR Robot

Abstract: Trajectory path generation is critical for the Autonomous Mobile Robot (AMR) when moving frequently in the working environment in the shop floor to transport loads from one work station to another continuously. Traditionally, the AMR moves from one point to stop at the next point or turn which is inefficient and consumes much energy. This paper proposes the new concept of AMR trajectory path planning with curvature driven by maximizing speed control of the differential drive at each curve to move smoothly. B-splined is commonly applied to CAD and CAM machining effectively for tool path trajectory. Therefore, the B-splined curvature is studied and validated by simulation together with energy consumption. The simulation is on Matlab Simulink with numerical model. It is investigated that the B-splined trajectory is efficient in animating the AMR’s actual system. The velocity can obtain both linear and angular velocity of the AMR movements on forward and backward directions as well as the acceleration. The trajectory can be selected based on the degree of closeness and used to generate speed and velocity control for the AMR system.