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Nonholonomic Motion Planning: Steering Using Sinusoids |
Abstract |
In this paper we investigate methods for s … In this paper we investigate methods for steering systems with nonholonomic
constraints between arbitrary configurations. Early work by Brockett derives the optimal
controls for a set of canonical systems in which the tangent space to the configuration
manifold is spanned by the input vector fields and their first order Lie brackets. Using
Brockett's result as motivation, we derive suboptimal trajectories for systems which are
not in canonical form and consider systems in which it takes more than one level of
bracketing to achieve controllability. These trajectories use sinusoids at integrally
related frequencies to achieve motion at a given bracketing level. We define a class of
systems which can be steered using sinusoids (chained systems) and give conditions under
which a class of two-input systems can be converted into this form. t systems can be converted into this form. +
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Authors | Richard M. Murray and S. Shankar Sastry + |
Flags | NoRequest + |
ID | 1993d + |
Source | <em>IEEE T. Automatic Control</em>, 38(5):700-716 + |
Tag | ms93 + |
Title | Nonholonomic Motion Planning: Steering Using Sinusoids + |
Type | Technical report + |
Categories | Papers |
Modification date This property is a special property in this wiki.
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15 May 2016 06:20:57 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/erl-M91-45.pdf + |
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Nonholonomic Motion Planning: Steering Using Sinusoids + | Title |
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