Adaptive optimal stochastic trajectory planning
Optimal stochastic trajectory planning of industrial or service robots under stochastic disturbances is considered. First a mathematical formulation of its two main classes, i.e., a prescribed-path problem and a point-to-point problem are given. Approximating the solution, velocity profile and configuration vector, with certain linear combination of known basis functions leads to a parameter optimisation problem under equality and inequality constraints. In order for the approach to be applicable to an on-line control process while reducing computational expense, neural networks are introduced. Numerical examples applied to a 6 joint Manutec r3 industrial robot are presented to examine the derived theoretical results. For the entire collection see [Zbl 0971.00007].
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- Robust Optimal Trajectory Planning for Robots by Stochastic Optimization
- Trajectory Planning for Systems with a Multiplicative Stochastic Uncertainty
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- Harmonic trajectory and CPG-based online trajectory planning for industrial robots
- Stochastic motion planning and applications to traffic
- Robust Optimal Trajectory Planning for Robots by Stochastic Optimization
- Optimal control via self-generated stochasticity
- An application of receding-horizon neural control in humanoid robotics
- Reduction of the On‐line Measurement and Control Expenses by Adaptive Stochastic Path Planning
- Trajectory Planning for Systems with a Multiplicative Stochastic Uncertainty
- Stochastic Programming Methods in Adaptive Optimal Trajectory Planning for Robots
- A Model for Optimal Human Navigation with Stochastic Effects
- Optimal human-like trajectory planning of CP-nets for robot
- Adaptive optimal stochastic trajectory planning and control (AOSTPC) for robots
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