Author:
Góral Ida,Tchoń Krzysztof
Abstract
AbstractThis 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.
Publisher
Springer Science and Business Media LLC
Subject
Electrical and Electronic Engineering,Artificial Intelligence,Industrial and Manufacturing Engineering,Mechanical Engineering,Control and Systems Engineering,Software
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