Title :
Energy-efficient Newton-based nonholonomic motion planning
Author :
I. Duleba;J.Z. Sasiadek
Author_Institution :
Inst. of Eng. Cybern., Wroclaw Univ. of Technol., Poland
fDate :
6/23/1905 12:00:00 AM
Abstract :
A modification of the Newton algorithm applied to nonholonomic motion planning is presented. The energy optimization is performed by optimizing motion in the null space of the Jacobian matrix derived from the nonholonomic system. Resulting controls are smooth and easy to generate for motors or thrusters. The method can be used to steer free-floating objects as well as mobile robots.
Keywords :
"Energy efficiency","Kinematics","Iterative algorithms","Jacobian matrices","Mobile robots","Control systems","Technology planning","Null space","Motion control","Trajectory"
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.946007
