无漂非完整系统的小半径可达球

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI:10.1109/ROBOT.2000.844862

I. Dulęba

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引用次数: 1

摘要

本文给出了无漂非完整系统小半径可达球的构造解析方法。从广义Campbell-Baker-Hausdorff-Dynkin公式推导出球面上产生点的正弦控制。非完整球是在霍尔坐标系中构造的，因此它们与特定的非完整系统无关。给出了具有三维状态空间的双输入无漂移系统的可达性球面和测地线曲线。强调了构造非完整球在非完整运动规划中的应用。

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Small radius attainability spheres for driftless nonholonomic systems

In this paper a constructive and analytic method is presented to obtain small radius attainability spheres for driftless nonholonomic systems. Sinusoidal controls generating points on spheres are derived from the generalized Campbell-Baker-Hausdorff-Dynkin formula. Nonholonomic spheres are constructed in Hall coordinate frame, thus they are independent of a particular nonholonomic system. Attainability spheres for two-input driftless systems with a three dimensional state space as well as geodesic curves are provided. The usefulness of construction of nonholonomic spheres in nonholonomic motion planning is highlighted.

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Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)

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