Constrained motion planning of nonholonomic systems

DOI10.1016/J.SYSCONLE.2011.04.022zbMath1236.93081OpenAlexW2037715591MaRDI QIDQ411690

Mariusz Janiak, Krzysztof Tchoń

Publication date: 30 April 2012

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.sysconle.2011.04.022

zbMATH Keywords

motion planningconstraintsnonholonomic systemJacobian algorithm

Mathematics Subject Classification ID

Linear systems in control theory (93C05) Control of mechanical systems (70Q05)

Related Items (5)

Lagrangian Jacobian inverse for nonholonomic robotic systems ⋮ Globally exponentially convergent velocity observer design for mechanical systems with nonholonomic constraints ⋮ Endogenous Configuration Space Approach: An Intersection of Robotics and Control Theory ⋮ Moving target tracking of extended nonholonomic chained-form systems via finite-time switching control ⋮ Finite-time tracking control of chained-form nonholonomic systems with external disturbances based on recursive terminal sliding mode method

Uses Software

• NewtonLib

Cites Work

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• Forward and adjoint sensitivity analysis with continuous explicit Runge-Kutta schemes
• Smoothing methods for convex inequalities and linear complementarity problems
• A continuation method for motion-planning problems
• Endogenous configuration space approach to mobile manipulators: A derivation and performance assessment of Jacobian inverse kinematics algorithms
• Control of systems without drift via generic loops
• On Dynamic Properties of Singularity Robust Jacobian Inverse Kinematics
• Extended Jacobian inverse kinematics algorithm for nonholonomic mobile robots

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