DocumentCode
2542440
Title
Exact motion planning solution for principally kinematic systems
Author
Shammas, Elie ; De Oliveira, Mauricio
Author_Institution
Dept. of Mech. Eng., American Univ. of Beirut, Beirut, Lebanon
fYear
2011
fDate
25-30 Sept. 2011
Firstpage
4329
Lastpage
4334
Abstract
In this paper, we take a rather new approach to solving the motion planning problem for principally kinematic systems, that is, systems whose dynamics is completely specified by the right number of nonholonomic constraints. Given a planar curve in the Special Euclidean group, we analytically solve for the base variables that locomote the principally kinematic system along the specified curve.
Keywords
path planning; robot kinematics; Chaplygin systems; exact motion planning; nonholonomic constraints; planar curve; principally kinematic systems; special Euclidean group; Differential equations; Equations; Kinematics; Planning; Shape; Trajectory; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Conference_Location
San Francisco, CA
ISSN
2153-0858
Print_ISBN
978-1-61284-454-1
Type
conf
DOI
10.1109/IROS.2011.6094516
Filename
6094516
Link To Document