TY  - JOUR
AU  - Ghanbarpour Asl, Habib
TI  - Minimum-time path planning for robot manipulators using path parameter optimization with external force and frictions
JF  - Tehnički glasnik
J2  - Teh. glas. (Online)
VL  - 13
PY  - 2019
IS  - 1
SP  - 25
EP  - 35
PG  - 11
SN  - 1846-6168
DO  - 10.31803/tg-20181112104935
UR  - https://m2.mtmt.hu/api/publication/30787749
ID  - 30787749
LA  - English
DB  - MTMT
ER  - 

TY  - JOUR
AU  - Barghi, Jond Hossein
AU  - Nabiyev Vasif, V.
AU  - Benveniste, Rifat
TI  - Trajectory Planning Using High Order Polynomials under Acceleration Constraint
JF  - JOURNAL OF OPTIMIZATION IN INDUSTRIAL ENGINEERING
J2  - J OPTIM IN INDUST ENG
VL  - 10
PY  - 2016
IS  - 21
SP  - 1
EP  - 6
PG  - 6
SN  - 2251-9904
DO  - 10.22094/joie.2016.255
UR  - https://m2.mtmt.hu/api/publication/30787706
ID  - 30787706
AB  - The trajectory planning, which is known as a movement from starting to end point by satisfying the constraints along the path is an essential part of robot motion planning. A common way to create trajectories is to deal with polynomials which have independent coefficients. This paper presents a trajectory formulation as well as a procedure to arrange the suitable trajectories for applications. Created trajectories aimed to be used for safe and smooth navigation in mobile robots. First, a trajectory problem is formulized by considering a border on the robot’s acceleration as the constraint. Also, initial and final conditions for the robot’s velocity along the straight path are settled. To investigate that suggested trajectories perform motions with continuous velocity and smooth acceleration, three trajectory problems are formulated using 3rd, 4th and 5th degree of polynomials. The high-degree polynomials are used because of providing of smoothness, but there is complexity in the calculation of additional coefficients. To reduce the complexity of finding the high-degree polynomial coefficients, the acceleration constraint is simplified and this process is based on a certain scenarios. Afterwards, the coefficients of the used polynomials are found by taking into account the acceleration constraint and velocity conditions. Additionally, to compare the obtained solutions through proposed scenarios, the polynomials` coefficients are solved numerically by Genetic Algorithm (GA). The computer simulation of motions shows that as well as acceleration constraint, the velocity conditions at the beginning and at the end of motion are fulfilled.
LA  - English
DB  - MTMT
ER  - 

TY  - CHAP
AU  - Barghi, Jond H
AU  - Nabiyev, VV
AU  - Akbarimajd, A
TI  - Planning of mobile robots under limitted velocity and acceleration
T2  - 2014 22nd Signal Processing and Communications Applications Conference, SIU 2014 - Proceedings
PB  - IEEE Computer Society
SN  - 9781479948741
PB  - IEEE Computer Society
PY  - 2014
SP  - 1579
EP  - 1582
PG  - 4
DO  - 10.1109/SIU.2014.6830545
UR  - https://m2.mtmt.hu/api/publication/27210734
ID  - 27210734
LA  - English
DB  - MTMT
ER  -