Motion Planning of Discrete-time Nonholonomic Systems with Difference-Equation Constraints.
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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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2000
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.18.823