Autor: Duleba, Ignacy - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Small time local controllability of driftless nonholonomic systems in a task-space
Autorzy:: Duleba, Ignacy
Mielczarek, Arkadiusz
Powiązania:: https://bibliotekanauki.pl/articles/229672.pdf
Data publikacji:: 2019
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: nonholonomic system
small time local controllability
configuration space
task-space
Opis:: In this paper a small time local controllability, naturally defined in a configuration space, is transferred into a task-space. It was given its analytical characterization and practical implcations. A special attention was put on singular configurations. Theoretical considerations were illustrated with two calculation examples. An extensive comparison of the proposed construction with the controllability defined in an endogenous configuration space approach was presented pointing out to their advantages and disadvantages.
Źródło:: Archives of Control Sciences; 2019, 29, 3; 423-436
1230-2384
Pojawia się w:: Archives of Control Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Sub-optimal motion planning of one-chained, two-input nonholonomic systems
Autorzy:: Duleba, Ignacy
Karcz-Duleba, Iwona
Powiązania:: https://bibliotekanauki.pl/articles/27311446.pdf
Data publikacji:: 2023
Wydawca:: Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:: nonholonomic systems
optimization
algorithm
Lie-algebraic methods
chained-form
forma łańcuchowa
optymalizacja
algorytm
system nieholonomiczny
metoda Lie algebraiczna
Opis:: In this paper three algorithms of motion planning for two-input, one-chained nonholonomic systems are presented. The classical Murray-Sastry algorithm is compared with two original algorithms aimed at optimizing energy of controls. Based on the generalized Campbell- Baker-Hausdorff-Dynkin formula applied to the systems, some observations are made concerning the optimal relationship between amplitudes and phases of harmonic controls. The observations help to optimize a selection of controls and to design new algorithms for planning a sub- optimal trajectory between given boundary configurations. It was also shown that for those particular systems the generalized C-B-H-D formula is valid not only locally (as in a typical case) but also globally. Simulations performed on the five-dimensional chain system facilitate distinguishing the proposed algorithms from the Murray-Sastry algorithm and to illustrate their features. Systems in a chained form are important from a practical point of view as they are canonical for a class of systems transformable into this form. The most prominent among them are mobile robots with or without trailers.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2023, 71, 3; art. no. e145684
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

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