Dynamically feasible data-driven trajectory generation for high performance control of robot manipulators

Robot manipulators are significantly more accurate than their human counterparts and enhance the repeatability of various tasks. However, manufactures still provide reduced information regarding the robot controller functions, typically affecting robots' predictability. Additionally, industrial examples show that system transparency could be...

Collision-free predictive trajectory generation for automated four-wheel-steered mini-buses

The autonomous transit market is on the rise. 2getthere is one of the lead suppliers of automated people moving systems, located in the Netherlands. Their vehicles can be classified as SAE level 4 automation (Highly Automated) vehicles. This thesis is concerned with the dynamic trajectory generation for 2getthere’s Group Rapid Transport (GRT)...

Trajectory Generation for Trucks for Merging Manoeuvres on the Highway

Trucks are largely used in road transportation worldwide in recent decades, and make great contributions to the GDP. Statistics shows that a large number of truck-involved accidents occur related to the ramp in merging manoeuvres on the highway. The accidents involved in trucks can lead to a considerable economic cost. The development of...

Real-time receding horizon trajectory generation for long heavy vehicle combinations on highways

The so-called A-double long heavy vehicle combination is a 32 meter long and up to 80 tonnes heavy double-trailer truck widely used in Canada and Australia today, and will be more abundant on the road also in Europe in the near future. They have the potential to decrease road transport cost, traffic congestion and generate lower emissions than...