无漂非完整系统运动规划的李代数方法

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05. Pub Date : 2005-06-23 DOI:10.1109/ROMOCO.2005.201405

I. Dulęba, Wissem Khefifi

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引用次数: 2

摘要

本文提出了一种无漂非完整系统的李代数方法。它使用无漂移非完整系统的广义Campbell-Baker-Hausdorff-Dynkin公式的特殊实例来建立控制与结果运动方向之间的映射。然后，在局部，运动规划任务是找到这个映射的逆。通常，它可以通过解析计算来支持。

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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A Lie algebraic method of motion planning for driftless nonholonomic systems

In this paper a Lie algebraic method is proposed to steer driftless nonholonomic systems. It uses the special instance of the generalized Campbell-Baker-Hausdorff-Dynkin formula for driftless nonholonomic systems to establish a mapping between controls and a resulting direction of motion. Then, locally, a motion planning task is to find the inverse of this mapping. Usually, it can be supported by analytic computations.

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Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.

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