Cooperative CAVs optimal trajectory planning for collision avoidance and merging in the weaving section

2020 ◽  
pp. 1-18
Author(s):  
Shoucai Jing ◽  
Xiangmo Zhao ◽  
Fei Hui ◽  
Asad J. Khattak ◽  
Lan Yang
Keyword(s):  
Collision Avoidance ◽  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Optimal Trajectory Planning

scholarly journals Modelling of Ship’s Trajectory Planning in Collision Situations by Hybrid Genetic Algorithm

2018 ◽  
Vol 25 (3) ◽  
pp. 14-25 ◽  
Author(s):  
Shengke Ni ◽  
Zhengjiang Liu ◽  
Yao Cai ◽  
Xin Wang
Keyword(s):  
Genetic Algorithm ◽  
Collision Avoidance ◽  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Hybrid Genetic Algorithm ◽  
Test Cases ◽  
Open Sea ◽  
Restricted Condition ◽  
Ship Collision ◽  
Optimal Trajectory Planning

Abstract Ship collision-avoidance trajectory planning aims at searching for a theoretical safe-critical trajectory in accordance with COLREGs and good seamanship. In this paper, a novel optimal trajectory planning based on hybrid genetic algorithm is presented for ship collision avoidance in the open sea. The proposed formulation is established based on the theory of the Multiple Genetic Algorithm (MPGA) and Nonlinear Programming, which not only overcomes the inherent deficiency of the Genetic Algorithm (GA) for premature convergence, but also guarantees the practicality and consistency of the optimal trajectory. Meanwhile, the encounter type as well as the obligation of collision avoidance is determined according to COLREGs, which is then considered as the restricted condition for the operation of population initialization. Finally, this trajectory planning model is evaluated with a set of test cases simulating various traffic scenarios to demonstrate the feasibility and superiority of the optimal trajectory.

scholarly journals Time-jerk optimal trajectory planning of hydraulic robotic excavator

2021 ◽  
Vol 13 (7) ◽  
pp. 168781402110346
Author(s):  
Yunyue Zhang ◽  
Zhiyi Sun ◽  
Qianlai Sun ◽  
Yin Wang ◽  
Xiaosong Li ◽  
...  
Keyword(s):  
Angular Velocity ◽  
Trajectory Planning ◽  
Optimal Trajectory ◽  
High Efficiency ◽  
Optimal Solution ◽  
Optimal Time ◽  
Target Point ◽  
Robotic Excavator ◽  
The Impact ◽  
Optimal Trajectory Planning

Due to the fact that intelligent algorithms such as Particle Swarm Optimization (PSO) and Differential Evolution (DE) are susceptible to local optima and the efficiency of solving an optimal solution is low when solving the optimal trajectory, this paper uses the Sequential Quadratic Programming (SQP) algorithm for the optimal trajectory planning of a hydraulic robotic excavator. To achieve high efficiency and stationarity during the operation of the hydraulic robotic excavator, the trade-off between the time and jerk is considered. Cubic splines were used to interpolate in joint space, and the optimal time-jerk trajectory was obtained using the SQP with joint angular velocity, angular acceleration, and jerk as constraints. The optimal angle curves of each joint were obtained, and the optimal time-jerk trajectory planning of the excavator was realized. Experimental results show that the SQP method under the same weight is more efficient in solving the optimal solution and the optimal excavating trajectory is smoother, and each joint can reach the target point with smaller angular velocity, and acceleration change, which avoids the impact of each joint during operation and conserves working time. Finally, the excavator autonomous operation becomes more stable and efficient.

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