menu_book Explore the article's raw data

Curvature bounded trajectories of desired lengths for a Dubins vehicle☆

Abstract

This paper deals with the generation of planar trajectories for a Dubins vehicle between any two given oriented points. It is useful in applications wherein a single or multiple autonomous vehicles are to maneuver between any two points in a time bound manner. A feasible trajectory is constructed by the concatenation of two tangential circles. Additionally, we propose to also include LL and RR paths composed of internally tangent circles as a part of the feasible trajectories. In this framework, we show the existence of infinitely many such trajectories of varying lengths between any two given points. Further, the bounds on the lengths of such trajectories are discussed which illustrate the reachability of any desired length. Thereafter, we incorporate the notion of curvature boundedness into such trajectories and also determine the conditions necessary for the existence of trajectories of desired lengths. Finally, the results of this paper are illustrated using numerical simulations. (c) 2024 Elsevier Ltd. All rights are reserved, including those for text and data mining, AI training, and similar technologies.

article Article

date_range 2024

language English

link Link of the paper

format_quote

Rao Aditya

Singh Kushal

Tripathy Twinkle

Sorry! There is no raw data available for this article.

Loading references...

Loading citations...

Featured Keywords

Available online xxxx

Trajectory generation

Curvature bounded path

Dubins vehicle

shopping_basket PURCHASE DATA

Effect of corrosion on flexural strength of reinforced concrete beams with polypropylene fibers

Abstract

An experimental study was performed to investigate the effects of polypropylene fibers on uncorroded and corroded reinforced concrete beams. Three different volume fractions of polypropylene fibers having 0, 0.5, and 1.5%, were tested at four corrosion levels of 0% and approximately 5, 7, and 9%. A full scale of an accelerated corrosion pool was used for the accelerated corrosion process. Reinforced concrete beams were used for an under monotonic bending test. The contribution of the actual corrosion levels of transverse and longitudinal reinforcement bars to the total corrosion levels were obtained from reinforcement bars fully extracted from concrete. Flexural strength, bond-slip, and moment-curvature relationships were examined for uncorroded and corroded reinforced concrete beams. A new model was developed to predict the flexural strength of corroded reinforced concrete beams. The proposed model for predicting the residual flexural strength of corroded beams was compared with test data published in previous studies. Furthermore, a novel model is presented for improved predictions between the actual and theoretically estimated corrosion mass losses, based on Faraday’s law, with the aid of fully extracted reinforcement bars. The model used to predict the flexural strength of corroded reinforced concrete beams with large sizes demonstrated good agreement with current and previously published literature data. In the case of corroded beams comprising differing amounts of polypropylene fibers, the performance of the corroded beams was limited by a fiber volume fraction of 1.5% at low corrosion levels.

article Article

date_range 2018

language English

link Link of the paper

Load-displacement...

A0 (xlsx)