Simulation Environment

This project aims to research and develop a four-dimensional trajectory planning method for aircraft. The trajectory’s constraint conditions include avoidance of no-fly zones and terrain obstacles, collision avoidance with surrounding moving aircraft, trajectory smoothness, and constraints on aircraft capabilities include speed and acceleration. The optimization goals for the trajectory include minimizing the trajectory duration and maximizing comfort.

This project focuses on the modeling and control of wheeled robots, including three sub-projects I have completed at different times. They are autonomous taxiing of aircraft on the runway, crawler chassis locomotion for excavators, and a robotic guide dog for vision impaired people.

This project involves a wide range of technologies. My research and works on this has three directions, excavator arm motion planning, trajectory optimization, and control, crawler excavator base motion planning and control, and task-level planning involving decision-making.