Name
Abstract | ||
|---|---|---|
This paper addresses the motion planning problem of nonholonomic robotic systems. The system's kinematics are described by a driftless control system with output. It is assumed that the control functions are represented in a parametric form, as truncated orthogonal series. A new motion planning algorithm is proposed based on the solution of a Lagrange-type optimisation problem stated in the linear approximation of the parametrised system. Performance of the algorithm is illustrated by numeric computations for a motion planning problem of the rolling ball. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1007/s10846-016-0394-4 | Journal of Intelligent and Robotic Systems |
Keywords | Field | DocType |
Jacobian algorithm,Motion planning,Nonholonomic system,Parametrisation | Linear approximation,Motion planning,Parametric equation,Kinematics,Jacobian matrix and determinant,Control theory,Control engineering,Parametric statistics,Control system,Nonholonomic system,Mathematics | Journal |
Volume | Issue | ISSN |
85 | 3-4 | 0921-0296 |
Citations | PageRank | References |
1 | 0.48 | 4 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ida Goral | 1 | 1 | 0.82 |
| Krzysztof Tchon | 2 | 52 | 13.93 |