Title :
Nonholonomic motion planning: steering using bang-bang control
Author :
Sheng, Li ; Guoliang, Ma ; Qingwei, Chen ; Xiaobei, Wu ; Weili, Hu
Author_Institution :
Dept. of Autom., Nanjing Univ. of Sci. & Technol., Jiangsu, China
fDate :
June 30 2004-July 2 2004
Abstract :
This paper studied the motion planning of nonholonomic systems. A method based on bang-bang control is proposed for n-dimensional chained form systems with two inputs in this paper. The method operates by switching between two kinds of inputs at time sequences to steer the system from initial configuration to an arbitrary final configuration. An algorithm is proposed to calculate time sequences of switching. At last, a numerical example and simulation results show the effectiveness of the proposed method.
Keywords :
bang-bang control; motion control; numerical analysis; path planning; robots; bang-bang controls; motion planning; n-dimensional chained form systems; nonholonomic systems;
Conference_Titel :
American Control Conference, 2004. Proceedings of the 2004
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-7803-8335-4
