The trajectory optimization of automatic spraying robot is still a challenging problem, which is very important in the whole spraying work. Spray trajectory optimization consists of two parts: spray space path and end-effector moving speed. A large n...
Borehole trajectory optimization is a key issue in oil and gas drilling engineering. The traditional wellbore trajectory design method faces great challenges in optimizing the trajectory length and complexity, and it is difficult to meet the actual e...
Based on the lift-to-drag ratio of a two-dimensional trajectory correction projectile, in this paper, a novel correction efficiency coefficient model has been proposed for the trajectory optimization of a two-dimensional trajectory correction project...
Air traffic trajectory optimization is a complex, multidimensional and non-linear optimization problem and requires a firm focus on the essential criteria. The criteria cover operational, economical, environmental, political, and social factors and d...
Train speed trajectory optimization has been proposed as an efficient and feasible method for energy-efficient train operation without many further requirements to upgrade the current railway system. This paper focuses on an adaptive partial train sp...
We propose an optimal planning scheme of the bucket trajectory in the LHD (Load-Haul-Dump) automatic shoveling system to improve the effectiveness of the scooping operation. The research involves simulation of four typical shoveling methods, optimiza...
Contrails are one of the driving contributors to global warming, induced by aviation. The quantification of the impact of contrails on global warming is nontrivial and requires further in-depth investigation. In detail, condensation trails might even...
This paper introduces an innovative approach to explore the capabilities of Quantum Annealing (QA) for trajectory optimization in dynamic systems. The proposed method involves transforming trajectory optimization problems into equivalent binary optim...
To address the collaborative optimization of efficiency, stability, and energy consumption in container part-handling operations of material-handling robots, this paper proposes a multi-objective trajectory-planning method. First, the kinematic and d...
To address the time-optimal trajectory planning (TOTP) problem with joint jerk constraints in a Cartesian coordinate system, we propose a time-optimal path-parameterization (TOPP) algorithm based on nonlinear optimization. The key insight of our appr...
This paper proposes a simple attitude trajectory optimization method to enhance the walking balance of a large-size hexapod robot. To achieve balance motion control of a large-size hexapod robot on different outdoor terrains, we planned the balance a...
Hybrid airships, combining aerodynamic lift and buoyant lift, are efficient near-space aircraft for scientific exploration, observation, and surveillance. Compared to conventional airplanes and airships, hybrid airships offer unique advantages, inclu...
Aerospace vehicles operate across a wide flight envelope, traversing dense atmospheric layers from near-space to low Earth orbit. Trajectory planning and optimization in a large spatial domain and wide speed range present severe challenges to traditi...
The rapid expansion of global shipping has led to continuously increasing vessel traffic density, making high-accuracy ship trajectory prediction particularly critical for navigational safety and traffic management optimization in complex waters such...
To address the difficulty of simultaneously optimizing execution time, energy consumption, and motion smoothness for six-degrees-of-freedom (6-DOF) industrial robotic manipulators in continuous operations such as high-speed handling and assembly, thi...
Directional drilling involves three sections—vertical, curved, and horizontal—and is used for drilling offshore wells and mining unconventional resources. The initial design of a well trajectory is important because the total length of th...
Trajectory optimization is an essential tool for the high-fidelity planning of missions in aerospace engineering in order to increase their safety. Robust optimal control methods are utilized in the present study to address environmental or system un...
Moving load is a fundamental loading pattern for many civil engineering structures and machines. This paper proposes and experimentally verifies an approach for indirect identification of 2D trajectories of moving loads. In line with the “struc...
Trajectory planning for morphing gliding reentry vehicles is a nonconvex optimization problem driven by nonlinearity, parameter uncertainty, and multiple constraints. No-fly zones (NFZs) are a critical constraint because their rapid movement and expa...
To realize the autonomous operation of unmanned excavators, this study takes the four-axis manipulator arm of an unmanned excavator as the research object, uses the five-order B-spline curve for operation trajectory planning, and proposes an improved...
A variety of aerospace trajectory optimization problems are subject to either discontinuities or constraints at intermediate times, which define multiple arcs with distinctive governing equations. This work addresses multi-arc optimal control problem...
4D flight trajectory optimization is an essential component to improve flight efficiency and to enhance air traffic capacity. this technique not only helps to reduce the operational costs, but also helps to reduce the environmental impact caused by t...
The implementation of Trajectory-Based Operations, invented by the Single European Sky Air Traffic Management Research program SESAR, enables airlines to fly along optimized waypoint-less trajectories and accordingly to significantly increase the sus...
This paper proposes a constrained trajectory optimization framework for autonomous vehicles (AVs) based on convex programming techniques. An enhanced kinematic vehicle model is introduced to capture dynamic motion characteristics that are often overl...
Parafoil trajectory directly affects the power generation of a high-altitude wind power generation (HAWPG) device. Therefore, it is particularly important to optimize the parafoil trajectory and then to track it effectively. In this paper, the trajec...
This paper proposes a fast midcourse trajectory optimization method by using the Bézier curve as a transcription scheme to represent the interceptor trajectories. First, the trajectory optimization problem is established with the constraints d...
Trajectory optimization has been an active area of research for air transport studies for several decades. But almost all flight optimizers proposed in the literature remain close-sourced, which presents a major disadvantage for the advancement of sc...
This review presents an in-depth exploration of trajectory optimization techniques for various orbit transfer applications, focusing on principles, methodologies, and practical case studies. The emphasis is placed on indirect, direct, and data-driven...
Unmanned aerial vehicles (UAVs) are required to pass through multiple important waypoints as quickly as possible in courier delivery, enemy reconnaissance and other tasks to eventually reach the target position. There are two important problems to be...
Currently, the high demand for new products in the automotive sector requires large investments in factories. The automotive industry is characterized by high automatization, largely achieved by manipulator robots capable of multitasking. This work p...
In recent years, the use of modern technology in military operations has become standard practice. Unmanned systems play an important role in operations such as reconnaissance and surveillance. This article examines a model for planning aerial reconn...
The optimization and control of the wellbore trajectory is one of the important technologies to improve drilling efficiency, reduce drilling cost, and ensure drilling safety in the process of modern oil and gas exploration and development. In this pa...
This study concentrates on physical layer security (PLS) in UAV-aided Internet of Things (IoT) networks and proposes an innovative approach to enhance security by optimizing the trajectory of unmanned aerial vehicles (UAVs). In an IoT system with mul...
The mission of spacecraft usually faces the problem of an unknown deep space environment, limited long-distance communication and complex environmental dynamics, which brings new challenges to the intelligence level and real-time performance of space...
A study on trajectory planning and optimization for a Par4 parallel robot was carried out, based on energy consumption in high-speed picking and placing. In the end-effector operating space of the Par4 parallel robot, the rectangular transition of th...
With the emergence of global traffic problems, the development of safe, efficient, and reliable intelligent driving technologies has become a research hotspot. As a key component of intelligent driving technology, trajectory planning directly affects...
The continuous configuration changes and velocity variations of tilt-rotor UAVs during the transition phase pose significant challenges to flight safety. Hence, the transition phase trajectory must be specially designed. The transition corridor is an...
Mobile edge computing (MEC) deployed in unmanned aerial vehicles (UAVs) has shown special strength by enhancing computational capacity and prolonging the battery lives of terrestrial user equipment (UE). Nevertheless, current research lacks studies o...
With the rapid development of robot perception and planning technology, robots are gradually getting rid of fixed fences and working closely with humans in shared workspaces. The safety of human-robot coexistence has become critical. Traditional moti...
Currently, flexible robots, exemplified by parallel robots, play a crucial role in the automated packaging of agricultural products due to their rapid, accurate, and stable characteristics. This research systematically explores trajectory planning st...
Two-wheeled mobile robots with deformed wheels face low stability when climbing steps, and their success rate in overcoming steps is affected by the trajectory. To address these challenges, we propose an improved hybrid genetic and adaptive particle...
In ultrasonic nondestructive testing, maintaining the ultrasonic sensor in normal contact with curved surfaces is pivotal for acquiring valid defect signals. Replacing manual operation with a robotic arm ensures stable signal collection, while stable...
This paper proposes an enhanced multi-strategy sparrow search algorithm to optimize the trajectory of a six-axis industrial robot, addressing issues of low efficiency and high vibration impact on joints during operation. Initially, the improved D-H p...
Automatic reverse parking (ARP) faces challenges in finding ideal reference trajectories that avoid collisions, maintain smoothness, and minimize path length. To address this, we propose an improved directional mutation moth–flame optimization...
Parking path optimization is the principal problem of automatic vertical parking (AVP); however, it is difficult to determine a collision avoiding, smooth, and accurate optimized parking path using traditional parking reference trajectory optimizatio...
This paper presents a practical optimization framework for improving trajectory feasibility in constrained nonlinear optimal control problems for agile unmanned aerial vehicles (UAVs). The proposed method addresses trajectory optimization problems wi...
The joints running trajectory of a robot directly affects it’s working efficiency, stationarity and working quality. To solve the problems of slow convergence speed and weak global search ability in the current commonly used joint trajectory op...
The advancement of electric vertical take-off and landing (eVTOL) aircraft has expanded the horizon of urban air mobility. However, the challenge of generating precise vertical take-off and landing (VTOL) trajectories that comply with airworthiness r...
Considering the high-efficient trajectory planning requirements for hypersonic vehicles, this paper proposes a real-time trajectory optimization method based on a deep neural network. First, the trajectory optimization model of the hypersonic vehicle...
Trajectory optimization of hypersonic vehicles face challenges from complex aerodynamic environments and multiple constraints, where traditional offline optimization methods struggle to meet real-time requirements. This study proposes a novel online...
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