The car with N Trailers : characterization of the singular configurations
نویسندگان
چکیده
منابع مشابه
Flatness and motion planning : the car with n trailers . ∗
A solution of the motion planning without obstacles for the nonholonomic system describing a car with n trailers is proposed. This solution relies basically on the fact that the system is flat with the cartesian coordinates of the last trailer as linearizing output. The Frnet formulas are used to simplify the calculation. The 2-trailers case is treated in details and illustrated through parking...
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The maximumof the degree of nonholonomy of the control system attached to a kinematic model for the car with n trailers is F n+3 where F n is the n th term of the Fibonacci's sequence (F 0 = 0; F 1 = 1; F n+2 = F n+1 + F n ; n 0). This value is obtained if and only if each trailer (except for the last one) is perpendicular to the previous one.
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ژورنال
عنوان ژورنال: ESAIM: Control, Optimisation and Calculus of Variations
سال: 1996
ISSN: 1292-8119,1262-3377
DOI: 10.1051/cocv:1996108