Controllability and motion planning for noncatastatic nonholonomic control systems
نویسندگان
چکیده
منابع مشابه
Motion Planning of nonholonomic systems with Tracking Control Lyapunov Function
A common approach to motion planning of robots and vehicles involves finding suitable trajectories for the positions of each configuration variable, and then using feedback to regulate the system to these trajectories. However, when the system has less actuator than dynamical degrees of freedom, it is not always possible to do this arbitrarily. In this paper a tracking control Lyapunov function...
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|A nonholonomic motion planner for mobile manipulators moving in cluttered environments is presented. The approach is based on a discontinous feedback law under the infuence of a special potential eld. Convergence is shown via Lyapunov's direct method. Utilizing redundancy, the methodology allows the system to perform secondary, connguration dependent, objectives such as singularity avoidance. ...
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ژورنال
عنوان ژورنال: Mathematical and Computer Modelling
سال: 1996
ISSN: 0895-7177
DOI: 10.1016/0895-7177(96)00078-7