Motion Planning of Discrete-time Nonholonomic Systems with Difference-Equation Constraints.

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...

Real-Time Motion Planning for Nonlinear Nonholonomic Mechatronic Systems Using Time-Scaling

Guidelines in Nonholonomic Motion Planning

Equation of Motion of the Nonlinear Robotic Systems with Constraints

This paper presents a simple methodology for obtaining the entire set of continuous controllers that cause a nonlinear dynamical system to exactly track a given trajectory. The trajectory is provided as a set of algebraic differential equations that may or may not be explicitly dependent on time. The method provided is inspired by results from analytical dynamics and the close connection betwee...

Planning spiral motion of nonholonomic space robots

A freeying space robot with a 6 DOF manipulator cannot follow an arbitrary trajectory in the 9D generalized coordinates(3 of the satellite orientation and 6 of the manipulator) with only manipulator joint control, though it was shown to be commonly controllable in the literature. In this paper, we propose a method to approximate the desired 9D path by introducing a perturbation around it. We ca...