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
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;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-61284-454-1
DOI :
10.1109/IROS.2011.6094516
