Bernstein Polynomial-Based Method for Solving Optimal Trajectory Generation Problems

Article Automation & Control Systems

A Novel Environment Exploration Strategy by m-generalised q-neutrosophic WASPAS

Rokas Semenas et al.

Summary: The research presents a new method for selecting the next target location in autonomous robot exploration in unknown environments, aiming to balance different high-level objectives to minimize robot travel distance and maximize environmental observation.

STUDIES IN INFORMATICS AND CONTROL (2021)

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Article Automation & Control Systems

Optimal Multivehicle Motion Planning Using Bernstein Approximants

Venanzio Cichella et al.

Summary: This article introduces a computational framework to efficiently generate feasible and safe trajectories for multiple autonomous vehicles, using optimal control problems and approximation with Bernstein polynomials. The method can effectively compute and enforce constraints, making it suitable for real-time trajectory generation in complex environments and multiple vehicle missions. The proposed method's advantages are investigated through numerical examples, showing convergence to the solution of the continuous-time problem.

IEEE TRANSACTIONS ON AUTOMATIC CONTROL (2021)

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Article Automation & Control Systems

Optimization-Based Collision Avoidance

Xiaojing Zhang et al.

Summary: This article presents a novel method that exactly reformulates nondifferentiable collision avoidance constraints into smooth, differentiable constraints using convex optimization. The proposed reformulation is exact and applicable to general obstacles and controlled objects. By connecting the results with signed distance concept, the method can be applied to generic navigation and trajectory planning tasks, enabling real-time optimization-based trajectory planning.

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY (2021)

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Article Chemistry, Multidisciplinary