Planning rigid body motions using elastic curves
نویسندگان
چکیده
منابع مشابه
Planning rigid body motions using elastic curves
This paper tackles the problem of computing smooth, optimal trajectories on the Euclidean group of motions SE(3). The problem is formulated as an optimal control problem where the cost function to be minimized is equal to the integral of the classical curvature squared. This problem is analogous to the elastic problem from differential geometry and thus the resulting rigid body motions will tra...
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ژورنال
عنوان ژورنال: Mathematics of Control, Signals, and Systems
سال: 2008
ISSN: 0932-4194,1435-568X
DOI: 10.1007/s00498-008-0033-0