Continuous controls for a sequence of motion plannings based on the endogenous configuration space method

In this paper modification of a motion planning method based on the endogenous configuration space approach was proposed aimed at solving a prescribed motion planning task sequentially. In an iterative process, the basic method is called and final values of controls from the previous iteration set constraints on controls for the current iteration. In this way, some required properties of resulting controls are obtained (continuity, continuous derivative, etc.) The proposed method was illustrated on exemplary nonholonomic systems.