Trajectory generation for the N-trailer problem using Goursat normal form
نویسندگان
چکیده
منابع مشابه
Trajectory Generation for the N - trailer problem using Goursat Normal Form *
In this paper, we show how ihe machinery of ederior differential sysiemr can k wed i o help soltie nonholonomic motion planning problems. Since the Gorrsat normal form for ezterior differential systems is dual i o chained form for vectorfields, we solve the problem of steering a mobile robot with n trailers by convcriing ihe system int.0 chained form, doing ihe paih-planning in the chained form...
متن کاملTrajectory Generation for the N-trailer Problem Using Goursat Normal Form
In this paper, we develop the machinery of exterior diierential forms, more particularly the Goursat normal form for a Pfaaan system, for solving nonholonomic motion planning problems, i.e. planning problems with non-integrable velocity constraints. We apply this technique to solving the problem of steering a mobile robot with n trailers. We present an algorithm for nding a family of transforma...
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In this paper, wheeled mobile robots towing trailers are used as examples of systems which can be converted into extended Goursat normal form. For some con gurations of this class of systems, a prolongation of the Pfa an system is necessary before the Goursat form can be achieved. The advantage of the Goursat form is that once the kinematic constraints are in this normal form, the point-to-poin...
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We provide necessary and sufficient conditions on the derived type of a vector field distribution V in order that it be locally equivalent to a partial prolongation of the contact distribution C (1) q , on the 1 order jet bundle of maps from R to R, q ≥ 1. This result fully generalises the classical Goursat normal form. Our proof is constructive: it is proven that if V is locally equivalent to ...
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برد عددی ماتریس مربعی a را با w(a) نشان داده و به این صورت تعریف می کنیم w(a)={x8ax:x ?s1} ، که در آن s1 گوی واحد است. در سال 2009، راسل کاردن مساله برد عددی معکوس را به این صورت مطرح کرده است : برای نقطه z?w(a)، بردار x?s1 را به گونه ای می یابیم که z=x*ax، در این پایان نامه ، الگوریتمی برای حل مساله برد عددی معکوس ارانه می دهیم.
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ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 1995
ISSN: 0018-9286
DOI: 10.1109/9.384215