Weiping Zeng¹, Xiangping Bryce Zhai^1,2,3,*, Cheng Sun¹, Liusha Jiang^1,2, Yicong Du³, Xuefeng Yan^1,3

CMC-Computers, Materials & Continua, Vol.86, No.2, pp. 1-15, 2026, DOI:10.32604/cmc.2025.070777 - 09 December 2025

Abstract With the expanding applications of unmanned aerial vehicles (UAVs), precise flight evaluation has emerged as a critical enabler for efficient path planning, directly impacting operational performance and safety. Traditional path planning algorithms typically combine Dubins curves with local optimization to minimize trajectory length under 3D spatial constraints. However, these methods often overlook the correlation between pilot control quality and UAV flight dynamics, limiting their adaptability in complex scenarios. In this paper, we propose an intelligent flight evaluation model specifically designed to enhance multi-waypoint trajectory optimization algorithms. Our model leverages a decision tree to integrate attitude More >

Zeinel Momynkulov^1,2, Azhar Tursynova^1,2,*, Olzhas Olzhayev^1,2, Akhanseri Ikramov^1,2, Sayat Ibrayev¹, Batyrkhan Omarov^1,2,3,*

CMES-Computer Modeling in Engineering & Sciences, Vol.145, No.1, pp. 891-918, 2025, DOI:10.32604/cmes.2025.068615 - 30 October 2025

Abstract Robotic manipulators increasingly operate in complex three-dimensional workspaces where accuracy and strict limits on position, velocity, and acceleration must be satisfied. Conventional geometric planners emphasize path smoothness but often ignore dynamic feasibility, motivating control-aware trajectory generation. This study presents a novel model predictive control (MPC) framework for three-dimensional trajectory planning of robotic manipulators that integrates second-order dynamic modeling and multi-objective parameter optimization. Unlike conventional interpolation techniques such as cubic splines, B-splines, and linear interpolation, which neglect physical constraints and system dynamics, the proposed method generates dynamically feasible trajectories by directly optimizing over acceleration inputs while… More >

Weicong Tan^1,#, Qiwu Wu^2,3,#,*, Lingzhi Jiang¹, Tao Tong², Yunchen Su²

CMC-Computers, Materials & Continua, Vol.85, No.2, pp. 3621-3652, 2025, DOI:10.32604/cmc.2025.068781 - 23 September 2025

Abstract This study introduces a novel algorithm known as the dung beetle optimization algorithm based on bounded reflection optimization and multi-strategy fusion (BFDBO), which is designed to tackle the complexities associated with multi-UAV collaborative trajectory planning in intricate battlefield environments. Initially, a collaborative planning cost function for the multi-UAV system is formulated, thereby converting the trajectory planning challenge into an optimization problem. Building on the foundational dung beetle optimization (DBO) algorithm, BFDBO incorporates three significant innovations: a boundary reflection mechanism, an adaptive mixed exploration strategy, and a dynamic multi-scale mutation strategy. These enhancements are intended to… More >

Buwei Dang, Huanming Chen^*, Heng Zhang, Jixian Wang, Jian Zhou

CMC-Computers, Materials & Continua, Vol.83, No.2, pp. 2003-2023, 2025, DOI:10.32604/cmc.2025.062653 - 16 April 2025

Abstract This paper introduces a lane-changing strategy aimed at trajectory planning and tracking control for intelligent vehicles navigating complex driving environments. A fifth-degree polynomial is employed to generate a set of potential lane-changing trajectories in the Frenet coordinate system. These trajectories are evaluated using non-cooperative game theory, considering the interaction between the target vehicle and its surroundings. Models considering safety payoffs, speed payoffs, comfort payoffs, and aggressiveness are formulated to obtain a Nash equilibrium solution. This way, collision avoidance is ensured, and an optimal lane change trajectory is planned. Three game scenarios are discussed, and the More >

Xinyu Liu^#, Longfei Wang^#, Yuxin Ma, Peng Shao^*

CMC-Computers, Materials & Continua, Vol.82, No.1, pp. 1349-1376, 2025, DOI:10.32604/cmc.2024.058294 - 03 January 2025

Abstract Stereoscopic agriculture, as an advanced method of agricultural production, poses new challenges for multi-task trajectory planning of unmanned aerial vehicles (UAVs). To address the need for UAVs to perform multi-task trajectory planning in stereoscopic agriculture, a multi-task trajectory planning model and algorithm (IEP-AO) that synthesizes flight safety and flight efficiency is proposed. Based on the requirements of stereoscopic agricultural geomorphological features and operational characteristics, the multi-task trajectory planning model is ensured by constructing targeted constraints at five aspects, including the path, slope, altitude, corner, energy and obstacle threat, to improve the effectiveness of the trajectory… More >

Adil Khan^1,*, Jinling Zhang¹, Shabeer Ahmad¹, Saifullah Memon², Babar Hayat¹, Ahsan Rafiq³

CMC-Computers, Materials & Continua, Vol.74, No.3, pp. 4685-4702, 2023, DOI:10.32604/cmc.2023.034892 - 28 December 2022

Abstract The main aim of future mobile networks is to provide secure, reliable, intelligent, and seamless connectivity. It also enables mobile network operators to ensure their customer’s a better quality of service (QoS). Nowadays, Unmanned Aerial Vehicles (UAVs) are a significant part of the mobile network due to their continuously growing use in various applications. For better coverage, cost-effective, and seamless service connectivity and provisioning, UAVs have emerged as the best choice for telco operators. UAVs can be used as flying base stations, edge servers, and relay nodes in mobile networks. On the other side, Multi-access… More >

Huaixi Xing¹, Yu Zhao¹, Yuhui Zhang¹, You Chen^{1, *}

CMC-Computers, Materials & Continua, Vol.65, No.3, pp. 2295-2308, 2020, DOI:10.32604/cmc.2020.011858 - 16 September 2020

Abstract Aiming at the yaw problem caused by inertial navigation system errors accumulation during the navigation of an intelligent aircraft, a three-dimensional trajectory planning method based on the particle swarm optimization-A star (PSO-A*) algorithm is designed. Firstly, an environment model for aircraft error correction is established, and the trajectory is discretized to calculate the positioning error. Next, the positioning error is corrected at many preset trajectory points. The shortest trajectory and the fewest correction times are regarded as optimization goals to improve the heuristic function of A star (A*) algorithm. Finally, the index weights are continuously… More >

Tuanjie Li^1,*, Yan Zhang¹, Jiaxing Zhou¹

CMES-Computer Modeling in Engineering & Sciences, Vol.118, No.3, pp. 583-598, 2019, DOI:10.31614/cmes.2018.04891

Abstract In order to satisfy the high efficiency and high precision of collaborative robots, this work presents a novel trajectory planning method. First, in Cartesian space, a novel velocity look-ahead control algorithm and a cubic polynomial are combined to construct the end-effector trajectory of robots. Then, the joint trajectories can be obtained through the inverse kinematics. In order to improve the smoothness and stability in joint space, the joint trajectories are further adjusted based on the velocity look-ahead control algorithm and quintic B-spline. Finally, the proposed trajectory planning method is tested on a 4-DOF serial collaborative More >

Jiayu Lu¹, Siqin Chang^1,*

CMES-Computer Modeling in Engineering & Sciences, Vol.118, No.1, pp. 91-109, 2019, DOI:10.31614/cmes.2019.04190

Abstract In this paper, a trajectory planning-based energy-optimal method is proposed to reduce the energy consumption of novel electromagnetic valve train (EMVT). Firstly, an EMVT optimization model based on state equation was established. Then, the Gauss pseudospectral method (GPM) was used to plan energy-optimal trajectory. And a robust feedforward-feedback tracking controller based on inverse system method is proposed to track the energy-optimal trajectory. In order to verify the effectiveness of the energy-optimal trajectory, a test bench was established. Finally, co-simulations based on MATLAB Simulink and AVL Boost were carried out to illustrate the effect of energy-optimal More >