A Study of a Trajectory Synthesis Method for a Cyclic Changeable Target in an Environment with Periodic Dynamics of Properties

  • Dmitrii MotorinEmail author
  • Serge Popov
  • Vadim Glazunov
  • Mikhail Chuvatov
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 259)


Trajectory planning in a large dynamic environment is a computationally complex cyber-physical task. The chapter considers an environment with periodic dynamics that simulates the rhythm of the day and night. Robots move between two target points cyclically. To optimize the trajectory planning process, it is possible to use pre-calculated paths. The pre-calculated state space consists of the planned paths for environmental states that can be considered static for a given period of time. The planning of robot movement in such the state space is carried out using parts of the pre-calculated optimal trajectories for a certain time and criteria for the transition between them. The method and criteria are studied by simulating the robot movement on two fundamentally different realistic maps. The method allows to plan the trajectories asynchronously with the time of the beginning of the movement of the robot, as well as to estimate the energy costs of overcoming the route.


Trajectory synthesis Robot Dynamic environment Dynamic targets Control Spatial-situational uncertainty Cyber-physical system 



The reported study was funded by RFBR according to the research project № 18-29-03250.


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Peter the Great St. Petersburg Polytechnic UniversitySaint PetersburgRussia

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