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Technical Briefs

Fast Trajectory Planning Via the B-Spline Augmented Virtual Motion Camouflage Approach

[+] Author and Article Information
Yunjun Xu

Assistant Professor
e-mail: yunjun.xu@ucf.edu

Ni Li

Department of Mechanical and Aerospace Engineering,
University of Central Florida,
Orlando, FL 32816

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the Journal of Dynamic Systems, Measurement, and Control. Manuscript received June 20, 2011; final manuscript received September 24, 2012; published online July 19, 2013. Assoc. Editor: Qingze Zou.

J. Dyn. Sys., Meas., Control 135(5), 054505 (Jul 19, 2013) (6 pages) Paper No: DS-11-1193; doi: 10.1115/1.4024601 History: Received June 20, 2011; Revised September 24, 2012

The recently developed bio-inspired virtual motion camouflage (VMC) method can be used to rapidly solve nonlinear constrained optimal trajectory problems. However, the optimality of VMC solution is affected by the dimension reduced search space. Compared with the VMC method, the B-spline augmented VMC (BVMC) method studied in this paper improves the optimality of the solution, while the computational cost will not be significantly increased. Two simulation examples, the Snell's river problem and a robotic minimum time obstacle avoidance problem, are used to show the advantages of the algorithm.

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Figures

Grahic Jump Location
Fig. 1

Optimal trajectory with the reference point optimized (the obstacle is represented by the grey circle)

Grahic Jump Location
Fig. 2

Optimal trajectory with the fixed reference point (the obstacle is represented by the grey circle)

Grahic Jump Location
Fig. 3

Three obstacle optimal trajectory with the fixed reference point

Grahic Jump Location
Fig. 4

Three obstacle optimal trajectory with the optimal reference point

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