- Tytuł:
- Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems
- Autorzy:
-
Dulęba, I.
Jagodziński, J. - Powiązania:
- https://bibliotekanauki.pl/articles/907494.pdf
- Data publikacji:
- 2011
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
system sterowania
system nilpotentny
algorytm
control
nilpotent system
algorithm
motion representation - Opis:
- In this paper, an extension of the Lafferriere-Sussmann algorithm of motion planning for driftless nilpotent control systems is analyzed. It is aimed at making more numerous admissible representations of motion in the algorithm. The representations allow designing a shape of trajectories joining the initial and final configuration of the motion planning task. This feature is especially important in motion planning in a cluttered environment. Some natural functions are introduced to measure the shape of a trajectory in the configuration space and to evaluate trajectories corresponding to different representations of motion.
- Źródło:
-
International Journal of Applied Mathematics and Computer Science; 2011, 21, 3; 525-534
1641-876X
2083-8492 - Pojawia się w:
- International Journal of Applied Mathematics and Computer Science
- Dostawca treści:
- Biblioteka Nauki
Artykuł