- Tytuł:
- Motion planning for nonholonomic systems with earlier destination reaching
- Autorzy:
- Ratajczak, A.
- Powiązania:
- https://bibliotekanauki.pl/articles/230046.pdf
- Data publikacji:
- 2018
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
motion planning
nonholonomic
endogenous configuration space
homotopy
continuation
earlier destination reaching - Opis:
- The motion planning problem consists in finding a control function which drives the system to a desired point. The motion planning algorithm derived with an endogenous configuration space approach assumes that the motion takes place in an arbitrary chosen time horizon. This work introduces a modification to the motion planning algorithm which allows to reach the destination point in time, which is shorter than the assumed time horizon. The algorithm derivation relies on the endogenous configuration space approach and the continuation (homotopy) method. To achieve the earlier destination reaching a new formulation of the task map and the task Jacobian are introduced. The efficiency of the new algorithm is depicted with simulation results.
- Źródło:
-
Archives of Control Sciences; 2018, 28, 2; 269-283
1230-2384 - Pojawia się w:
- Archives of Control Sciences
- Dostawca treści:
- Biblioteka Nauki
Artykuł