scholarly journals Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning

2014 ◽  
Author(s):  
Frédéric Jean
Keyword(s):  
Motion Planning ◽  
Riemannian Geometry ◽  
Nonholonomic Systems

Motion Planning of Nonholonomic Systems with Tracking Control Lyapunov Function

2010 ◽  
Vol 44-47 ◽  
pp. 3992-3996
Author(s):  
Yan Peng ◽  
Mei Liu ◽  
Zhi Jie Tang ◽  
Shao Rong Xie ◽  
Jun Luo
Keyword(s):  
Lyapunov Function ◽  
Motion Planning ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Nonholonomic Constraint ◽  
Trajectory Generation ◽  
Nonholonomic Systems ◽  
Control Lyapunov Function ◽  
Dynamical Degrees

A common approach to motion planning of robots and vehicles involves finding suitable trajectories for the positions of each configuration variable, and then using feedback to regulate the system to these trajectories. However, when the system has less actuator than dynamical degrees of freedom, it is not always possible to do this arbitrarily. In this paper a tracking control Lyapunov function (TCLF) is proposed to guarantee that the trajectory generation is convergent and executable under nonholonomic constraint, and the simulation result conducted on surface vehicle shows its effectiveness.

Layer, Lie algebraic method of motion planning for nonholonomic systems

2012 ◽  
Vol 349 (1) ◽  
pp. 201-215 ◽  
Author(s):  
Ignacy Duleba ◽  
Wissem Khefifi ◽  
Iwona Karcz-Duleba
Keyword(s):  
Motion Planning ◽  
Algebraic Method ◽  
Nonholonomic Systems

scholarly journals Nonholonomic Systems and Sub-Riemannian Geometry

2010 ◽  
Vol 10 (4) ◽  
pp. 293-316
Author(s):  
Ovidiu Calin ◽  
Der-Chen Chang ◽  
Stephen S. T. Yau
Keyword(s):  
Riemannian Geometry ◽  
Nonholonomic Systems
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