نتایج جستجو برای: nonholonomic motion planning
تعداد نتایج: 403113 فیلتر نتایج به سال:
The motions of planar tracked vehicles are govemed by three force and moment equations, but driven by only two independent control variables. The force equation perpendicular to the tracks represents a d y n a m i c nonholonomic constraint which is explicitly dependent on vehicle speed. It couples path planning with trajectory planning, that is, solving for vehicle kinematic motions requires sp...
In this paper we study the dynamics of the 2D-motion of a particle of monolayer. First we consider the usual physical time component and the plan manifold R2, having the polar coordinates. Then a geometric approach to nonholonomic constrained mechanical systems is applied to a problem from the two dimensional geometric dynamics of the Langmuir-Blodgett monolayer. We consider a constraint sub...
In this paper, we examine creation of a decentralized kinematic control scheme for a composite system of two (or more) wheeled mobile manipulators that can team up to cooperatively transport a common payload. Each mobile manipulator module consists of a differentially-driven wheeled mobile robot (WMR) with a mounted planar two-degree-offreedom (d.o.f) manipulator. A composite multi-degree-offre...
We discuss an extension of the Hamilton–Jacobi theory to nonholonomic mechanics with a particular interest in its application to exactly integrating the equations of motion. We give an intrinsic proof of a nonholonomic analogue of the Hamilton–Jacobi theorem. Our intrinsic proof clarifies the difference from the conventional Hamilton–Jacobi theory for unconstrained systems. The proof also helps...
We consider a variant of nonholonomic motion planning for a Dubins car with no reversals, binary left/right steering, and uncertainty in motion direction. We apply our new motion planner to steerable needles, a new class of flexible bevel-tip medical needles that clinicians can steer through soft tissue to reach targets inaccessible to traditional stiff needles. Our method explicitly considers ...
This paper studies motion planning from one zero velocity state to another for a three-joint robot in a horizontal plane with a passive revolute third joint. Such a robot is small-time locally controllable on an open subset of its zero velocity section, allowing it to follow any path in this subset arbitrarily closely. However, some paths are “preferred” by the dynamics of the manipulator in th...
This paper presents a new motion planning primitive to be used for the iterative steering of vision-based autonomous vehicles. This primitive is a parameterized quintic spline, denoted as -spline, that allows interpolating an arbitrary sequence of points with overall second-order geometric ( -) continuity. Issues such as completeness, minimality, regularity, symmetry, and flexibility of these -...
Abstract In this paper, We first propose a systematic modeling of the wheeled mobile manipulator built from a robotic arm mounted on a wheeled mobile platform by using Lagrange dynamics equation and nonholonomic dynamics Routh equation. Then we use artificial potential field as part of feedback to accomplish the wheeled mobile manipulator’s motion planning, and its stability is guaranteed by Ly...
In this paper, we consider the problem of collision-free motion planning for multiple nonholonomic planar vehicles. Each vehicle is capable of moving at constant speed along paths with bounded curvature, and is aware of the position and heading of other vehicles within a certain sensing radius. No other information exchange is required between vehicles. We propose a spatially decentralized, coo...
Hamilton–jacobi Theory for Degenerate Lagrangian Systems with Holonomic and Nonholonomic Constraints
We extend Hamilton–Jacobi theory to Lagrange–Dirac (or implicit Lagrangian) systems, a generalized formulation of Lagrangian mechanics that can incorporate degenerate Lagrangians as well as holonomic and nonholonomic constraints. We refer to the generalized Hamilton–Jacobi equation as the Dirac–Hamilton–Jacobi equation. For non-degenerate Lagrangian systems with nonholonomic constraints, the th...
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