Two New Methods for Motion Planning for Controllable Systems without Drift
نویسندگان
چکیده
We describe some recent new approaches for motion planning for nonholonomic systems without drift, developed in joint work of with G. Laaerriere and W. Liu. The main idea is to relate the trajectories of the given system to those of a \Lie bracket extension," and to seek ways to obtain trajectories of the original system that achieve the same eeect as a trajectory of the extended system.
منابع مشابه
Motion Planning and Approximate Tracking for Controllable Systems without Drift
We describe an approach for motion planning for nonholo-nomic systems without drift based on a combination of (a) earlier work of Sussmann and Laaerriere and (b) some recent results on approximation of trajectories, based on extensions of theorems of Kurzweil and Jarnik about limits of trajectories for highly oscillatory inputs.
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