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optimal-trajectory-planning
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Optimal Trajectory Planning for Aircraft Microgravity Atmospheric Maneuver
, M.Sc. Thesis Sharif University of Technology ; Pourtakdoust, Hossein (Supervisor)
Abstract
The purpose of the current study is to design an optimal trajectory and control for an aircraft to perform a microgravity maneuver automatically. This subject is by itself an important research topic that has not yet been attempted via optimal control formulation and modelling. Space stations are commonly utilized to conduct long-term microgravity research. Unfortunately utility of space stations to perform space based microgravity experiments is expensive and inaccessible for many researchers and scientific institutions. However, since many experiments requiring microgravity conditions can be performed in short time intervals, there is a possibility to meet their demand via optimal...
Trajectory optimization for a high speed planing boat based on Gauss pseudospectral method
, Article Proceedings - 2011 2nd International Conference on Control, Instrumentation and Automation, ICCIA 2011 ; 2012 , Pages 195-200 ; Ghorbani, M. T ; Sharif University of Technology
Abstract
In this paper, the problem of Optimal Trajectory Planning for a high speed planing boat under nonlinear equality and inequality path constraints, is addressed. First, a nonlinear mathematical model of the craft's dynamic is constructed. To solve a trajectory optimization problem, we can utilize the indirect or direct methods. In the indirect methods, the maximum principle of Pontryagin is used to transform the optimal control problem into Euler-Lagrange equations, on the other hand, in the direct methods it is necessary to transcribe the optimal control problem into a nonlinear programming problem (NLP) by discretization of states and controls. The resulted NLP can be solved by...
Design of a Dynamic Route Optimisation Algorithm for Ships
, M.Sc. Thesis Sharif University of Technology ;
Abstract
Marine transportation is an essential aspect of global trade, as it is responsible for transporting large quantities of goods and commodities between different countries and continents. The efficient optimization of shipping routes can greatly reduce operational costs, save time, and increase the overall competitiveness of the maritime industry. One of the most critical aspects of route optimization is the selection of the most efficient path, taking into account various constraints such as fuel consumption, voyage duration, vessel speed, and port constraints. The PSO algorithm has been successfully applied to a variety of optimization problems, including the optimization of marine routes....
Optimal trajectory planning for brachiation robot on ladder with irregular branches
, Article Proceedings of the ASME Design Engineering Technical Conference, 28 August 2011 through 31 August 2011 ; Volume 6, Issue PARTS A AND B , August , 2011 , Pages 1131-1137 ; 9780791854839 (ISBN) ; Lavasani, S. M. H ; Mousavi, M. S. R ; Norouzi, M ; Sharif University of Technology
2011
Abstract
This paper deals with control of the brachiation robot. The brachiation is a type of mobile robot that moves from branch to branch like a long-armed ape. Here, as a new innovation, Pontryagin's minimum principle is used to obtain the optimal trajectories for two different problems. The first problem is "Brachiation between fixed branches with different distance and height" and the second is "Brachiating and catching the moving target branch". Theoretical results show that the control effort in the proposed method is reduced by 25% in comparison with the "Target Dynamics" method which was proposed in prior articles for this robot. The obtained optimal trajectory also minimizes the brachiation...