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autonomous mining: design and development of an unmanned electric shovel via point cloud-based optimal trajectoryplanning

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0686-2

Abstract: In the field of autonomous excavation, environmental perception and excavation trajectory planning aretrajectory planning are presented.Then, by establishing the dynamical model of the UES, a point to point (PTP) excavation trajectory planningBased on optimal trajectory command, the UES performs autonomous excavation.Compared with the common excavation trajectory planning approaches, the proposed method tends to be more

Keywords： autonomous excavation     unmanned electric shovel     point cloud     excavation trajectory planning    

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Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based

Jian Wu,Yang Yan,Yulong Liu,Yahui Liu,

Engineering doi: 10.1016/j.eng.2023.07.018

Abstract: The forward design of trajectory planning strategies requires preset trajectory optimization functionsTherefore, an anthropomorphic obstacle-avoidance trajectory planning strategy for adaptive driving scenariosSubsequently, a trajectory expectation feature-matching algorithm is proposed that uses maximum entropyplanning strategy for adaptive driving scenarios is proposed.The results show that the strategy can adjust the weight distribution of the trajectory optimization

Keywords： Obstacle avoidance trajectory planning     Inverse reinforcement theory     Anthropomorphic     Adaptive driving    

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General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action

Heye Huang,Yicong Liu,Jinxin Liu,Qisong Yang,Jianqiang Wang,David Abbink,Arkady Zgonnikov,

Engineering doi: 10.1016/j.eng.2023.10.001

Abstract: This study presents a general optimal trajectory planning (GOTP) framework for autonomous vehicles (AVsFurthermore, in selecting the optimal trajectory, we develop a unified and auto-tune objective functionMoreover, we prove that the proposed method can guarantee real-time planning and safety requirements

Keywords： Autonomous vehicle     Trajectory planning     Multi-performance objectives     Principle of least action    

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Multiobjective trajectory optimization of intelligent electro-hydraulic shovel

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 4, doi: 10.1007/s11465-022-0706-2

Abstract: Multiobjective trajectory planning is still face challenges due to certain practical requirements andIn this paper, a multiobjective trajectory optimization approach that sets energy consumption, executiontime, and excavation volume as the objective functions is presented for the electro-hydraulic shovelthat the proposed approach can provide the high-quality Pareto optimal solutions and outperforms other trajectory

Keywords： trajectory planning     electro-hydraulic shovel     cubic polynomial S-curve     multiobjective optimization    

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Trajectory planning of mobile robots using indirect solution of optimal control method in generalized

M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 1,   Pages 23-28 doi: 10.1007/s11465-012-0304-9

Abstract:

This paper presents an optimal control strategy for optimal trajectory planning of mobile robots byThen, the optimal path planning of the mobile robot is formulated as an optimal control problem.

Keywords： mobile robot     trajectory planning     nonlinear dynamic     optimal control    

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Energy-efficient trajectory planning for a multi-UAV-assisted mobile edge computing system

Pei-qiu Huang, Yong Wang, Ke-zhi Wang,pqhuang@csu.edu.cn,ywang@csu.edu.cn,kezhi.wang@northumbria.ac.uk

Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 12,   Pages 1671-1814 doi: 10.1631/FITEE.2000315

Abstract: Our goal is to minimize the energy consumption of this system by planning the trajectories of UAVs.This problem is difficult to address because when planning the trajectories, we need to consider not
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Intelligent computing budget allocation for on-road trajectory planning based on candidate curves Article

Xiao-xin FU,Yong-heng JIANG,De-xian HUANG,Jing-chun WANG,Kai-sheng HUANG

Frontiers of Information Technology & Electronic Engineering 2016, Volume 17, Issue 6,   Pages 553-565 doi: 10.1631/FITEE.1500269

Abstract: In this paper, on-road trajectory planning is solved by introducing intelligent computing budget allocation(ICBA) into a candidate-curve-based planning algorithm, namely, ordinal-optimization-based differentialOODE plans the trajectory in two parts: trajectory curve and acceleration profile.The best trajectory curve is picked from a set of candidate curves, where each curve is evaluated byframework presented in this paper can also be used to enhance the efficiency of other candidate-curve-based planning

Keywords： Intelligent computing budget allocation     Trajectory planning     On-road planning     Intelligent vehicles    

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Trajectory planning and base attitude restoration of dual-arm free-floating space robot by enhanced bidirectional

Zongwu XIE1 , Xiaoyu ZHAO1 , Zainan JIANG1 , Haitao YANG2 , Chongyang LI1

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 1, doi: 10.1007/s11465-021-0658-y

Abstract: In this paper, the enhanced bidirectional approach is proposed to plan the manipulator trajectory andproposed, and a new intermediate variable-based Lyapunov function is derived and solved for smooth joint trajectorycarried out in the end, and the proposed method is validated in minimizing final base attitude change and trajectory

Keywords： free-floating space robot     dual arm     coordinated operation     base attitude restoration     bidirectional approach    

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Prediction of characteristic blast-induced vibration frequency during underground excavation by using

Tae Un PAK; Guk Rae JO; Un Chol HAN

Frontiers of Structural and Civil Engineering 2022, Volume 16, Issue 8,   Pages 1029-1039 doi: 10.1007/s11709-022-0861-x

Abstract: In this study, blasting vibration signals were measured during underground excavation in carbonaceous

Keywords： wavelet analysis     blast-induced vibration     frequency characteristics     underground excavation    

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Dynamic prediction of moving trajectory in pipe jacking: GRU-based deep learning framework

Frontiers of Structural and Civil Engineering   Pages 994-1010 doi: 10.1007/s11709-023-0942-5

Abstract: The moving trajectory of the pipe-jacking machine (PJM), which primarily determines the end quality ofmodels to support drivers in performing rectifications in advance can effectively avoid considerable trajectoryrecurrent unit (GRU)-based deep learning framework is proposed herein to dynamically predict the moving trajectoryThe results show that the proposed framework can dynamically and precisely predict the PJM moving trajectoryThe proposed framework is expected to provide an effective decision support for moving trajectory control

Keywords： dynamic prediction     moving trajectory     pipe jacking     GRU     deep learning    

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A double-layered nonlinear model predictive control based control algorithm for local trajectory planning Research Articles

Hong-chao Wang, Wei-wei Zhang, Xun-cheng Wu, Hao-tian Cao, Qiao-ming Gao, Su-yun Luo,17721336541@163.com,zwwsues@163.com,longxd2714@163.com,yjs_liqing@163.com,mosxsues@163.com,ly18362885604@163.com

Frontiers of Information Technology & Electronic Engineering 2020, Volume 21, Issue 7,   Pages 963-1118 doi: 10.1631/FITEE.1900185

Abstract: We present a double-layered control algorithm to plan the local trajectory for s equipped with four hubThe MLN-MPC controller is applied to plan a dynamically feasible trajectory, and the SLN-MPC controlleroff-line co-simulation environments of AMESim, Simulink, dSPACE, and TruckSim, a dynamically feasible trajectory

Keywords： Automated truck     Trajectory planning     Nonlinear model predictive control     Longitudinal slip    

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Influencing factors and control measures of excavation on adjacent bridge foundation based on analytic

Shuangxi FENG, Huayang LEI, Yongfeng WAN, Haiyan JIN, Jun HAN

Frontiers of Structural and Civil Engineering 2021, Volume 15, Issue 2,   Pages 461-477 doi: 10.1007/s11709-021-0705-0

Abstract: Many uncertain factors in the excavation process may lead to excessive lateral displacement or over-limitedIt was found that the excavation depth and the distance between the foundation pit and the bridge foundation

Keywords： deep foundation pit excavation     adjacent bridge foundation     influencing factors     analytic hierarchy process    

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Robust train speed trajectory optimization: A stochastic constrained shortest path approach

Li WANG, Lixing YANG, Ziyou GAO, Yeran HUANG

Frontiers of Engineering Management 2017, Volume 4, Issue 4,   Pages 408-417 doi: 10.15302/J-FEM-2017042

Abstract: Train speed trajectory optimization is a significant issue in railway traffic systems, and it plays aTo appropriately characterize the uncertainties and generate a robust speed trajectory, this study specifically

Keywords： train speed trajectory optimization     railway operation     stochastic programming    

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Shanghai center project excavation induced ground surface movements and deformations

Guolin XU, Jiwen ZHANG, Huang LIU, Changqin REN

Frontiers of Structural and Civil Engineering 2018, Volume 12, Issue 1,   Pages 26-43 doi: 10.1007/s11709-017-0439-1

Abstract: instrumentation program lasting 14 months was conducted to monitor the behaviors of this deep circular excavation

Keywords： deep excavation     foundation pit     soft clay     top-down method     field observation     ground surface movements     ground    

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Field and laboratory experimental studies on hard-rock tunnel excavation based on disc cutter coupled

Frontiers of Structural and Civil Engineering   Pages 1370-1386 doi: 10.1007/s11709-023-0947-0

Abstract: The tunnel boring machine (TBM) is typically used in hard-rock tunnel excavation.

Keywords： tunnel boring machine     hard-rock cutting     free face     disc cutter     rock-cutting efficiency    

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Title Author Date Type Operation

autonomous mining: design and development of an unmanned electric shovel via point cloud-based optimal trajectoryplanning

Journal Article

Research on Anthropomorphic Obstacle Avoidance Trajectory Planning for Adaptive Driving Scenarios Based

Jian Wu,Yang Yan,Yulong Liu,Yahui Liu,

Journal Article

General Optimal Trajectory Planning: Enabling Autonomous Vehicles with the Principle of Least Action

Heye Huang,Yicong Liu,Jinxin Liu,Qisong Yang,Jianqiang Wang,David Abbink,Arkady Zgonnikov,

Journal Article

Multiobjective trajectory optimization of intelligent electro-hydraulic shovel

Journal Article

Trajectory planning of mobile robots using indirect solution of optimal control method in generalized

M. NAZEMIZADEH, H. N. RAHIMI, K. AMINI KHOIY

Journal Article

Energy-efficient trajectory planning for a multi-UAV-assisted mobile edge computing system

Pei-qiu Huang, Yong Wang, Ke-zhi Wang,pqhuang@csu.edu.cn,ywang@csu.edu.cn,kezhi.wang@northumbria.ac.uk

Journal Article

Intelligent computing budget allocation for on-road trajectory planning based on candidate curves

Xiao-xin FU,Yong-heng JIANG,De-xian HUANG,Jing-chun WANG,Kai-sheng HUANG

Journal Article

Trajectory planning and base attitude restoration of dual-arm free-floating space robot by enhanced bidirectional

Zongwu XIE1 , Xiaoyu ZHAO1 , Zainan JIANG1 , Haitao YANG2 , Chongyang LI1

Journal Article

Prediction of characteristic blast-induced vibration frequency during underground excavation by using

Tae Un PAK; Guk Rae JO; Un Chol HAN

Journal Article

Dynamic prediction of moving trajectory in pipe jacking: GRU-based deep learning framework

Journal Article

A double-layered nonlinear model predictive control based control algorithm for local trajectory planning

Hong-chao Wang, Wei-wei Zhang, Xun-cheng Wu, Hao-tian Cao, Qiao-ming Gao, Su-yun Luo,17721336541@163.com,zwwsues@163.com,longxd2714@163.com,yjs_liqing@163.com,mosxsues@163.com,ly18362885604@163.com

Journal Article

Influencing factors and control measures of excavation on adjacent bridge foundation based on analytic

Shuangxi FENG, Huayang LEI, Yongfeng WAN, Haiyan JIN, Jun HAN

Journal Article

Robust train speed trajectory optimization: A stochastic constrained shortest path approach

Li WANG, Lixing YANG, Ziyou GAO, Yeran HUANG

Journal Article

Shanghai center project excavation induced ground surface movements and deformations

Guolin XU, Jiwen ZHANG, Huang LIU, Changqin REN

Journal Article

Field and laboratory experimental studies on hard-rock tunnel excavation based on disc cutter coupled

Journal Article