非完整系统控制空间中的基比较

Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891) Pub Date : 2004-06-17 DOI:10.1109/ROMOCO.2004.240577

I. Dulęba

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引用次数: 1

摘要

本文对无漂移非完整系统的控制空间中的基进行了求解。作为一种评估工具，使用了广义Campbell-Baker-Hausdorff-Dynkin公式的预控制形式。谐波傅立叶基是另外两种测试基中最好的:多项式基(勒让德基)和最简单的小波基-哈尔基。说明了基对非完整机器人运动规划的影响。

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Bases comparison in control space of nonholonomic systems

In this paper, bases in the space of controls are evaluated for driftless nonholonomic systems. As a tool of the evaluation, the pre-control form of the generalized Campbell-Baker-Hausdorff-Dynkin formula is used. It appears that harmonic, Fourier basis is the best among the two other tested bases: polynomial (Legendre) basis and the simplest wavelet basis - the Haar basis. An impact of bases on motion planning for nonholonomic robots is explained.

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Proceedings of the Fourth International Workshop on Robot Motion and Control (IEEE Cat. No.04EX891)

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