• DocumentCode
    313713
  • Title

    Path planning for nonholonomic systems with drift

  • Author

    Godhavn, John-Morten ; Balluchi, Andrea ; Crawford, Lara ; Sastry, Shankar

  • Author_Institution
    Seatex, Trondheim, Norway
  • Volume
    1
  • fYear
    1997
  • fDate
    4-6 Jun 1997
  • Firstpage
    532
  • Abstract
    We study nonholonomic systems with drift terms. The discussion is focused on a class of Lagrangian systems with a cyclic coordinate. An approach to open-loop path planning is presented. A control algorithm is derived and applied to the example of a planar diver
  • Keywords
    bang-bang control; controllability; feedforward; nonlinear systems; path planning; Lagrangian systems; bang bang control; controllability; cyclic coordinate; drift; nonholonomic systems; path planning; Algebra; Control systems; Lagrangian functions; Mechanical systems; Nonlinear control systems; Nonlinear systems; Open loop systems; Path planning; Power generation; Upper bound;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 1997. Proceedings of the 1997
  • Conference_Location
    Albuquerque, NM
  • ISSN
    0743-1619
  • Print_ISBN
    0-7803-3832-4
  • Type

    conf

  • DOI
    10.1109/ACC.1997.611856
  • Filename
    611856
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=313713