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Velocity space approach to motion planning of nonholonomic systems

Published online by Cambridge University Press:  01 May 2007

Ignacy Duleba  and
Wissem Khefifi
Ignacy Duleba*
Affiliation:
Institute of Computer Engineering, Control and Robotics, Wroclaw University of Technology, Janiszewski St. 11/17, 50-372 Wroclaw, Poland
Wissem Khefifi
Affiliation:
Institute of Computer Engineering, Control and Robotics, Wroclaw University of Technology, Janiszewski St. 11/17, 50-372 Wroclaw, Poland
*
*Corresponding author. E-mail: ignacy.duleba@pwr.wroc.pl
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Summary

In this paper, a velocity space method of motion planning for nonholonomic systems is presented. This method, based on Lie algebraic principles and locally around consecutive current states, plans a motion towards a goal. It is effective as most of the computations can be carried out analytically. This method is illustrated on the unicycle robot and the inverted pendulum.

Keywords

Nonholonomic systemsMotion planningLie algebraic method
Type
Article
Information
Robotica , Volume 25 , Issue 3 , May 2006 , pp. 359 - 366
Copyright
Copyright © Cambridge University Press 2007

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