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Velocity space approach to motion planning of nonholonomic systems
Published online by Cambridge University Press: 01 May 2007
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.
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- Copyright © Cambridge University Press 2007
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