Title :
Path planning for nonholonomic systems with drift
Author :
Godhavn, John-Morten ; Balluchi, Andrea ; Crawford, Lara ; Sastry, Shankar
Author_Institution :
Seatex, Trondheim, Norway
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;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.611856
