Nonholonomic motion planning for a free-falling cat using spline approximation
نویسندگان
چکیده
منابع مشابه
Nonholonomic motion planning for a free-falling cat using spline approximation
An optimal motion planning of a free-falling cat based on the spline approximation is investigated. Nonholonomicity arises in a free-falling cat subjected to nonintegrable velocity constraints or nonintegrable conservation laws. The equation of dynamics of a free-falling cat is obtained by using the model of two symmetric rigid bodies. The control of the system can be converted to the motion pl...
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ژورنال
عنوان ژورنال: Science China Physics, Mechanics and Astronomy
سال: 2012
ISSN: 1674-7348,1869-1927
DOI: 10.1007/s11433-012-4891-6