Creating Through Points in Linear Function with Parabolic Blends Path by Optimization Method

The linear segment with parabolic blend (LSPB) trajectory deviates from the specified waypoints. It is restricted to that the acceleration must be sufficiently high. In this work, it is proposed to engage modified LSPB trajectory with particle swarm optimization (PSO) so as to create through points...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autor principal:	Saad Zaghlul Saeed Al-khayyt
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2018
Materias:	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/57fec59a179946ea8cb48f3a961fb0f0
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:57fec59a179946ea8cb48f3a961fb0f0
record_format	dspace
spelling	oai:doaj.org-article:57fec59a179946ea8cb48f3a961fb0f02021-12-02T02:33:58ZCreating Through Points in Linear Function with Parabolic Blends Path by Optimization Method10.22153/kej.2018.10.0051818-11712312-0789https://doaj.org/article/57fec59a179946ea8cb48f3a961fb0f02018-04-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/116https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 The linear segment with parabolic blend (LSPB) trajectory deviates from the specified waypoints. It is restricted to that the acceleration must be sufficiently high. In this work, it is proposed to engage modified LSPB trajectory with particle swarm optimization (PSO) so as to create through points on the trajectory. The assumption of normal LSPB method that parabolic part is centered in time around waypoints is replaced by proposed coefficients for calculating the time duration of the linear part. These coefficients are functions of velocities between through points. The velocities are obtained by PSO so as to force the LSPB trajectory passing exactly through the specified path points. Also, relations for velocity correction and exact velocity solution are derived. Simulation results show that the engagement of modified LSPB trajectory with PSO to work well on the tested cases. This proposed method is very simple which can be used for on-line path planning, and not necessarily to use high acceleration magnitude. Saad Zaghlul Saeed Al-khayytAl-Khwarizmi College of Engineering – University of BaghdadarticleChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 14, Iss 1 (2018)
institution	DOAJ
collection	DOAJ
language	EN
topic	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Saad Zaghlul Saeed Al-khayyt Creating Through Points in Linear Function with Parabolic Blends Path by Optimization Method
description	The linear segment with parabolic blend (LSPB) trajectory deviates from the specified waypoints. It is restricted to that the acceleration must be sufficiently high. In this work, it is proposed to engage modified LSPB trajectory with particle swarm optimization (PSO) so as to create through points on the trajectory. The assumption of normal LSPB method that parabolic part is centered in time around waypoints is replaced by proposed coefficients for calculating the time duration of the linear part. These coefficients are functions of velocities between through points. The velocities are obtained by PSO so as to force the LSPB trajectory passing exactly through the specified path points. Also, relations for velocity correction and exact velocity solution are derived. Simulation results show that the engagement of modified LSPB trajectory with PSO to work well on the tested cases. This proposed method is very simple which can be used for on-line path planning, and not necessarily to use high acceleration magnitude.
format	article
author	Saad Zaghlul Saeed Al-khayyt
author_facet	Saad Zaghlul Saeed Al-khayyt
author_sort	Saad Zaghlul Saeed Al-khayyt
title	Creating Through Points in Linear Function with Parabolic Blends Path by Optimization Method
title_short	Creating Through Points in Linear Function with Parabolic Blends Path by Optimization Method
title_full	Creating Through Points in Linear Function with Parabolic Blends Path by Optimization Method
title_fullStr	Creating Through Points in Linear Function with Parabolic Blends Path by Optimization Method
title_full_unstemmed	Creating Through Points in Linear Function with Parabolic Blends Path by Optimization Method
title_sort	creating through points in linear function with parabolic blends path by optimization method
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2018
url	https://doaj.org/article/57fec59a179946ea8cb48f3a961fb0f0
work_keys_str_mv	AT saadzaghlulsaeedalkhayyt creatingthroughpointsinlinearfunctionwithparabolicblendspathbyoptimizationmethod
_version_	1718402409565257728

Creating Through Points in Linear Function with Parabolic Blends Path by Optimization Method

Ejemplares similares