Campbell-Baker-Hausdorff-Dynkin公式在非完整运动规划中的应用

Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353) Pub Date : 1900-01-01 DOI:10.1109/ROMOCO.1999.791072

I. Dulęba

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引用次数: 9

摘要

本文采用离散和连续的Campbell-Baker-Hausdorff-Dynkin公式设计无漂移非完整系统的控制方法。这些公式提供了控制的互补特性:离散公式产生具有许多开关的分段常数控制，实际上不需要计算;而连续公式提供了分段连续控制，只有几个开关，在计算过程中涉及。这两个公式都可以用于非完整运动规划。在此基础上提出了一种简单的运动规划算法。包括为无障碍环境中独轮车机器人的示例性运动规划所获得的控制实例。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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On use of Campbell-Baker-Hausdorff-Dynkin formulas in nonholonomic motion planning

In this paper discrete and continuous Campbell-Baker-Hausdorff-Dynkin formulas are used for designing the control method to steer driftless nonholonomic systems. The formulas offer complementary properties of controls: the discrete formula produces piecewise constant controls with many switches and practically without computational effort; while the continuous formula provides piecewise continuous controls with only a few switches, in computationally involved procedure. Both of the formulas can be used in nonholonomic motion planning. A simple algorithm of motion planning based on the formulas is presented. Examples of controls obtained for exemplary motion planning of a unicycle robot in an obstacle free environment are included.

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Proceedings of the First Workshop on Robot Motion and Control. RoMoCo'99 (Cat. No.99EX353)

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