کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
752024 | 895371 | 2011 | 7 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: Constrained motion planning of nonholonomic systems Constrained motion planning of nonholonomic systems](/preview/png/752024.png)
This paper addresses the constrained motion planning problem for nonholonomic systems represented by driftless control systems with output. The problem consists in defining a control function driving the system output to a desirable point at a given time instant, whereas state and control variables remain over the control horizon within prescribed bounds. The state and control constraints are handled by extending the control system with a pair of state equations driven by the violation of constraints, and adding regularizing perturbations. For the regularized system a Jacobian motion planning algorithm is designed, called imbalanced. Solutions of example constrained motion planning problems for the rolling ball illustrate the theoretical concepts.
Journal: Systems & Control Letters - Volume 60, Issue 8, August 2011, Pages 625–631