蛇形板的运动学可控性与运动规划

IEEE Trans. Robotics Autom. Pub Date : 2003-06-25 DOI:10.1109/TRA.2003.810236

F. Bullo, A. D. Lewis

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引用次数: 71

摘要

证明了蛇形板具有两个解耦向量场，并且具有运动可控性。因此，将蛇形板从给定的静止构型转向到期望的静止构型的问题作为约束静态非线性反演问题提出。给出了该问题的显式算法解决方案，并讨论了其局限性。给出了非线性反演问题的一种特殊解。

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Kinematic controllability and motion planning for the snakeboard

The snakeboard is shown to possess two decoupling vector fields, and to be kinematically controllable. Accordingly, the problem of steering the snakeboard from a given configuration at rest to a desired configuration at rest is posed as a constrained static nonlinear inversion problem. An explicit algorithmic solution to the problem is provided, and its limitations are discussed. An ad hoc solution to the nonlinear inversion problem is also exhibited.

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IEEE Trans. Robotics Autom.

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