Name
Abstract | ||
|---|---|---|
This paper uses the continuation method as a guideline to address the trajectory planning problem in robotic systems. It is assumed that the robotic system can be represented by a control affine system with output. From the homotopy map a partial differential equation is derived involving the control system and its variational system, whose solution yields a 1 parameter family of control functions. This family contains a solution to the trajectory planning problem, corresponding to the parameter growing up to infinity. The approach developed in the paper is illustrated with a trajectory planning problem for the kinematics of the rolling ball. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/MMAR.2011.6031315 | 2011 16TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS |
Keywords | Field | DocType |
planning,robots,partial differential equations,heuristic algorithm,kinematics,trajectory | Affine transformation,Mathematical optimization,Kinematics,Computer science,Control theory,Infinity,Homotopy,Control system,Robot,Partial differential equation,Trajectory | Conference |
Citations | PageRank | References |
1 | 0.36 | 2 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Joanna Karpinska | 1 | 1 | 0.36 |
| Krzysztof Tchon | 2 | 52 | 13.93 |