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A racing line is a trajectory that allows car of defined parameters to travel through a given track in minimum time. The growing competition in motorsports racing increases a demand for planning the vehicle path as accurately as possible, what opens a room for computerized methods. In this work, a method of race line generation basing on known optimization methods was presented and implemented using...
One approach to reduce energy consumption in railway systems is to implement optimised train trajectories. These are speed profiles that reduce energy consumption without foregoing customer comfort or running times. This is achieved by avoiding unnecessary braking and running at reduced speed whilst maintaining planned arrival times. An optimised train trajectory can be realised using a driver advisory...
In urban rail transit system, utilization of the regenerative energy of trains is quite an efficient way for energy saving. This paper aims to reduce the total energy consumption of trains in a whole day by optimal utilization of the regenerative energy. The regenerative energy is generated by the braking trains, and in the same time used by the accelerating trains in the same power supply district...
According to the work features and requirements of SCARA robot, a motion trajectory is planed following the request of speed and acceleration at the starting point and termination point. The planning uses the joint spatial method based on genetic-algorithms. The objective function is the moving time and mechanical impact. The target is a high-profile on the joint angles.
Reusable launch vehicle (RLV) trajectory optimization of terminal area energy management (TAEM) phase is a multiple constrained optimal control problem. In order to achieve the RLV auto-landing window requirements, a new intelligent optimization method based on the flight corridor formed from altitude versus acceleration plane for RLV pre-final phase is presented. This research establishes three-degree-of-freedom...
Over the years, traffic congestion has grown into one of today's global problems. Intersections are a major cause of this problem. Thus proper management of the intersections, will reduce congestion consequently. In this study, an intelligent Intersection Control System (ICS) is proposed to control traffic flow in intersections. Treating the problem as a Multi-Agent System (MAS), two types of agents...
The paper aims to investigate the effects of two genetic encoding methods while developing a model helicopter pilot and realizing smooth trajectory in flying a simple maneuver - acceleration/deceleration maneuver. It makes use of both inverse simulation and genetic algorithms to optimize the performance of the model pilot. The overall goal of is to define the maneuver and have the developed pilot...
In this paper, the optimum configuration of superfluous cables in redundant planar cable-suspended robots for minimum time trajectory is investigated. Both cable tensions and cable velocities are assumed to be limited. The bounds on the cable tensions and velocities are transformed into the bounds on the acceleration and velocity along the specified path. Assuming bang-bang control and using genetic...
This work aims to develop an artificial intelligence for a helicopter pilot. That is, a system that learns to fly a helicopter the way a human pilot would. It draws on the benefits of using inverse simulation and genetic algorithms to model systems similar to human process. The goal is to define tasks for the helicopter and have the pilot find control settings that carry out those tasks. The inverse...
For a SAR seeker, how to acquire the best azimuth resolution within a fixed time is still a problem. As well known, the trajectory and the look angle have an effect on the azimuth resolution of imaging. This paper proposes a trajectory design and optimization method based on genetic algorithms. It builds the constraints of the missile at the flight time, uses a sequence of piecewise constant command...
This paper presents the algorithms to obtain the local minimum-time trajectory planning for the five-axis machining with or without the tool deflection. The tool and workpiece are first combined as a closed-chain system of rigid bodies. The tool path and shape are simplified to the tool-workpiece system curve and tool line. The forward and inverse kinematics are applied to obtain the kinematic relation...
Many interesting problems in numerical optimization are hybrid optimal control problems. Hybrid optimal control (HOC) problems include both continuous-valued variables and categorical variables in the problem formulation. For the types of problems envisioned here the categorical variables will specify the structure or sequence of events that qualitatively describes the trajectory or mission. Continuous...
A new approach based on fuzzy genetic algorithm is developed to find the time-jerk synthetic optimal trajectory of robot with a joint space scheme using cubic splines. In order to get the optimal trajectory, cubic splines are employed and derived under the constraint condition of velocity and acceleration of the first and last point, which assure overall continuity of velocity and accelerations on...
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