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

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Cyber-Physical Systems: Advances in Design & Modelling

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 259))

Abstract

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.

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Acknowledgements

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

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Authors and Affiliations

  1. Peter the Great St. Petersburg Polytechnic University, Saint Petersburg, Russia

    Dmitrii Motorin, Serge Popov, Vadim Glazunov & Mikhail Chuvatov

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  1. Dmitrii Motorin
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  2. Serge Popov
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  3. Vadim Glazunov
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  4. Mikhail Chuvatov
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Correspondence to Dmitrii Motorin .

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Editors and Affiliations

  1. Volgograd State Technical University, Volgograd, Russia

    Alla G. Kravets

  2. Peter the Great St. Petersburg Polytechnic University, St. Petersburg, Russia

    Alexander A. Bolshakov

  3. Volgograd State Technical University, Volgograd, Russia

    Maxim V. Shcherbakov

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Motorin, D., Popov, S., Glazunov, V., Chuvatov, M. (2020). A Study of a Trajectory Synthesis Method for a Cyclic Changeable Target in an Environment with Periodic Dynamics of Properties. In: Kravets, A., Bolshakov, A., Shcherbakov, M. (eds) Cyber-Physical Systems: Advances in Design & Modelling. Studies in Systems, Decision and Control, vol 259. Springer, Cham. https://doi.org/10.1007/978-3-030-32579-4_10

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  • DOI: https://doi.org/10.1007/978-3-030-32579-4_10

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  • Online ISBN: 978-3-030-32579-4

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